Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J17/00—Joints
• • E—FIXED CONSTRUCTIONS
  • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
  • E05D—HINGES OR SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS
  • E05D1/00—Pinless hinges; Substitutes for hinges
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
  • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10S901/00—Robots
  • Y10S901/27—Arm part
  • Y10S901/28—Joint
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
  • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
  • Y10T29/00—Metal working
  • Y10T29/49—Method of mechanical manufacture
  • Y10T29/49826—Assembling or joining
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
  • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
  • Y10T74/00—Machine element or mechanism
  • Y10T74/20—Control lever and linkage systems
  • Y10T74/20207—Multiple controlling elements for single controlled element
  • Y10T74/20305—Robotic arm
  • Y10T74/20329—Joint between elements

Definitions

• the present invention relates to an articulated member for robot or haptic interface and to robots and haptic interfaces implementing at least one such articulated member.
• joints in which two segments come, such as the bones of the human body, roll and / or slide on one another in housing machined for this purpose.
• One example is the articulation proposed in Article X. Zhe, E. Todorov, B. Dellon, Y. Matsuoka, 'Design and Analysis of an Artificial Finger Joint for Anthropomorphic Robotic Hands', Submitted to IEEE International Conference on Robotics and Automation, 2011, May 9-13, 2011, Shanghai, China. It is proposed in this document to recreate an articulation having a behavior close to that of the human metacarpophalangeal joint. It includes a patella and elements simulating the ligaments.
• hinges fabric to connect two rigid elements such as those described in document FR 2 775 927 and used in furniture.
• these hinges have a local fragility that is incompatible with use in a robot.
• WO 2008/015178 discloses an articulated member having two rigid segments and a hinge, the hinge is a fibrous material fixed in each of the rigid segments. Such articulation has almost no resistance. Moreover if the segments are beveled they can be placed very close to each other. In these conditions the free length of the fibrous material is very short. The fibrous material is also very resistant to elongation, the parasitic movements are very limited and the movement is of high quality. Fibers assembled for example in the form of cables or fabrics are pinched or molded into the segments.
• an articulated member provided with a hinge allowing a large deflection while offering great strength, and opposing only a low resistance force when the movement of the joint, and whose design allows a high accuracy of realization while having a reduced cost of implementation.
• the previously stated purpose is achieved by an articulated limb having two rigid members and a hinge formed of a fibrous material connecting ends of the rigid members and of which the free length between these elements is small, each rigid member having at least two parts, a first part or insert forming the end connected to the other rigid element by the hinge and a second part forming the body of the rigid element.
• the first part requiring a high degree of accuracy can be achieved initially, which is then secured to the body of the rigid element which, in general, requires less precision.
• the first parts of all the rigid elements can be made in large series and be mounted on bodies adapted to the application but whose realization is less expensive.
• the fibrous material offers only a very low resistance to movement, a high strength, especially in the direction of the fibers. Moreover, it is easy to manufacture and easy to assemble with the segments of the member to achieve.
• the member comprises three sets: a fibrous material of which a very small length is left free so as to achieve a very precise and very transparent pivot connection, two rigid elements that are to be made mobile in rotation; one relative to the other and two inserts arranged at the end of the rigid elements and advantageously coming into contact during assembly.
• the inserts serve to guide the fibrous material of the joint and ensure contact between the segments.
• the bodies of the rigid elements place the inserts in the space and require only a few precise dimensions, mainly the spacing between the planes coming to receive the rear part of the inserts. Their other dimensions do not need precise tolerances and these parts can be made cheaply, even if they are all different.
• the inserts are made of hard material, which makes it possible to reduce frictional wear between the first two parts and to obtain good mechanical strength.
• the inserts can be made of steel while the bodies can be made by molding in light material as a plastic material or aluminum, which ultimately allows to maintain a relatively light structure.
• the inserts comprise transverse guide means of the fibrous portion, for example formed by grooves in the case of cables, which avoids any movement along the axis of rotation of the joint.
• the realization of such grooves requires great precision.
• they are formed in the inserts which are already made with great precision.
• the present invention is therefore particularly adapted to the implementation of such guide means.
• the subject of the present invention is then an articulated member comprising at least first and second rigid segments and an articulation ensuring pivoting of the first and second segments relative to one another about an axis of rotation, said articulation comprising fibers, wherein each of the segments has a body and an element disposed at one end of said body, referred to as an "end member", the two end members being held facing each other by said hinge said end members having tapered profiles having vertices disposed facing each of said end members being made prior to being secured to the corresponding body.
• the vertices have a rounded profile.
• the articulation is advantageously formed of at least two elongated elements extending, in a reference configuration, in a direction perpendicular to the axis of articulation between the first and the second segment.
• the elongate members may be formed by cables and / or woven or non-woven fiber webs.
• the hinge is formed of a woven or non-woven fiber web whose average plane passes by or near the pivot axis and extends, in a reference configuration, in a direction perpendicular to the axis of articulation between the first and the second segment, said band comprise edges separated by a distance in the direction of the axis of the articulation close to the dimensions of the end elements in this direction.
• the joint is formed of several woven or non-woven fiber webs whose average plane passes through or near the pivot axis and extends, in a reference configuration, in a direction perpendicular to the axis of articulation between the first and second segments, said strips comprising at least first and second strips, said first and second strips being disposed at the outer ends of the hinge in the direction of the axis of the joint, the outer edges of said first and second outer bands being separated by a distance in the direction of the axis of the joint close to the dimensions of the end members in this direction.
• the one or more strips or elongated elements pass through each end element at a plane of each of said end elements passing through their apex, said plane comprising, in a reference configuration, the axis of rotation.
• At least one of the end members is split into two portions, wherein the one or more strips or elongate members are received between the two portions.
• the end elements separated into two parts may then comprise means for securing the two parts against each other.
• each end member is formed in a pierced portion for passing the band (s) or elongated elements, the hole having a shape adapted to the band (s) or elongated elements.
• the rounded profile of the apex of each end element may be symmetrical, in a reference configuration, with respect to the plane containing the strip or elongated elements and passing through said end element.
• the rounded profile of the top of each end element can be distributed between the two parts of each of the end elements, the profile of each of the end elements obtained after placement of said two parts being continuous.
• the profile of the rounded tip of each end element can be carried by only one of the two parts of each of the end elements, the profile of each of the end elements obtained after placement of said two parts being continued.
• the elongated elements run on outer faces of the end elements, said faces defining the tapered profile and joining at the top, said elongated elements intersecting at the axis of rotation.
• first elongate elements run on outer faces of the end elements, said faces defining the tapered profile and joining at the top, said first elongate elements intersecting at the axis of rotation, and wherein elongated second members pass through the end members at a plane of said end members passing through their apex, said cutting plane, in a reference pattern, the axis of rotation.
• the elongate members may be woven and nonwoven cables and / or fiber webs.
• the bodies may have two parts between which the end members are held.
• the bodies may be molded on the end members.
• the articulated member comprises means preventing displacement of the band (s) or elongated elements along the axis of rotation.
• the means preventing displacement of the band (s) or elongated elements along the axis of rotation comprise grooves extending perpendicularly to the axis of rotation, formed on at least one of the faces. view of the parts forming each end element.
• the grooves may be formed in the two faces of facing portions and vis-à-vis so as to form channels for the strip (s) or the elongated elements.
• the grooves may be formed on the face of only one of the parts of each end element so as to form channels for the band (s) or elongated elements, the other part facing each element end being smooth.
• the depth of the channels is advantageously less than the thickness of the band (s) or elongated elements so as to crush them slightly.
• the means preventing displacement of the band (s) or elongated elements along the axis of rotation may comprise grooves formed on at least one of the outer faces of the end members, said grooves extending perpendicularly to the axis of rotation.
• the means preventing displacement of the band (s) or elongated elements along the axis of rotation comprise grooves formed in the apex of at least one end element.
• the means preventing displacement of the band (s) or elongated elements along the axis of rotation comprise grooves extending perpendicularly to the axis of rotation formed on at least one faces facing the portions forming each end member and / or grooves formed on at least one of the outer faces of the end members, said grooves extending perpendicularly to the axis of rotation and / or grooves formed in the top of at least one end element.
• the means preventing displacement of the band (s) or elongate elements along the axis of rotation comprise a pair of flanges carried by one of the segments and providing a space whose transverse dimension is adapted to receive the proximal portion of the other segment and to prevent its displacement along the axis of rotation.
• the length of the strip (es) or elongated elements may be chosen such that their ends project perpendicularly to the axis of rotation of the ends of the bodies situated opposite the end elements, making it possible to exert an tensile force on these.
• the hinged member may advantageously comprise means for exerting a tension force on the strip (s) or the elongated elements.
• the subject of the present invention is also an articulated limb according to the present invention comprising at least a first and a second elongate element, the first elongated element being situated near first lateral edges of the end members and the second elongated member being located near the opposite second side edges.
• the joint may comprise two pairs of two cables, each pair being located near the side edges of the end members.
• the end members are made of hard material such as steel.
• the bodies are of light material, such as aluminum or a plastic material.
• the main elongation direction of the first segment forms, in a reference configuration, an angle with the main elongation direction of the second segment.
• the articulated limb may comprise at least one measuring element, a part of which is fixed on the first rigid segment and a part is fixed on the second rigid segment.
• the measuring element comprises a first part on the first segment and a second part on the second segment, the first and second parts not being mechanically connected to each other.
• the present invention also relates to an articulated mechanism having n articulated members according to the invention, n being a positive integer greater than or equal to 2.
• n-1 segments of the mechanism are common to at least two articulated members .
• all the segments being common to at least two articulated members.
• the mechanism may include an actuator for moving one segment relative to the other.
• the actuating device comprises a rotary or linear actuator provided with measuring means such as an angular or linear position sensor.
• the actuating device may comprise at least one electric motor and a gearbox or is a hydraulic or pneumatic actuator.
• the present invention also relates to a haptic interface comprising at least one articulated member according to the present invention.
• the present invention also relates to a robot comprising at least one articulated member according to the present invention.
• the present invention also relates to a force feedback glove comprising at least one robot according to the present invention for interacting with a finger.
• the present invention also relates to a method for producing an articulated limb according to the present invention, comprising the following steps:
• step e) takes place between step b) and step c).
• step e) takes place after step d) and step e) is a step of molding the bodies on the end elements and on the elongated elements.
• the end elements are made by machining.
• FIG. 1A is a perspective view of a first example of a first embodiment of an articulated limb according to the present invention, in which the articulation is made by means of cables,
• FIG. 1B is a variant of the member of FIG. 1A,
• FIGS. 2A and 2B are perspective views of alternative embodiments of inserts suitable for producing articulated limbs according to the first embodiment
• FIG. 3 is a perspective view of another variant of an insert suitable for producing an articulated limb according to the first embodiment
• FIG. 4 is a perspective view of an example of an insert adapted to producing an articulated member according to another example of the first embodiment
• FIG. 5 is a perspective view of another example of an articulated limb according to the first embodiment, in which the joint is produced by means of strips of woven or non-woven fibrous material,
• FIGS. 6A and 6B are perspective overall and detail views respectively of an example of a member according to a second embodiment, in which articulation is carried out by means of cables,
• FIG. 7 is a perspective view of a variant of the articulated member of FIGS. 6A and 6B,
• FIGS. 8A and 8B are top and bottom perspective views of another alternative embodiment of the articulated member of FIGS. 6A and 6B,
• FIG. 9A is a perspective view of another exemplary embodiment of an articulated member according to the second embodiment.
• FIG. 9B is a perspective view of the insert of the example of FIG. 9A shown alone,
• FIG. 10 is a perspective view of another embodiment of an articulated member according to the second embodiment, in which the articulation is made by means of strips of woven or non-woven fibrous material,
• FIGS. 11A and 11B are perspective views of an example of an articulated member and the insert according to a third embodiment
• FIG. 12 is a perspective view of another example of an articulated member according to the third embodiment.
• FIG. 13 is a perspective view of an exemplary embodiment of a poly-articulated mechanism comprising articulated members according to the invention
• FIGS. 14A and 14B are perspective views of another exemplary embodiment of a poly-articulated mechanism comprising articulated members according to the invention, having a closed-loop configuration
• FIGS. 15, 16 and 17 are perspective views of examples of actuated structures incorporating at least one articulated member according to the present invention.
• FIG. 18 is a perspective view of an exemplary embodiment of a robot using articulated members according to the invention.
• FIG. 19 is a perspective view of an exemplary embodiment of a haptic interface using articulated members according to the invention.
• FIG. 20 is a perspective view of an example of a force-return glove implementing articulated members according to the present invention.
• proximal ends The longitudinal ends of the segments and facing inserts will be referred to as “proximal ends” and the opposite longitudinal ends of the segments and inserts will be referred to as “distal ends”.
• FIG. 1A shows a first embodiment of an articulated limb, comprising a first segment 2 and a second rigid segment 4, respectively extending mainly along the axes X 2 and X 4 and an articulation 6 connecting the two segments. 2, 4.
• the two segments are then articulated relative to each other by a pivot connection or can be likened to a pivot link Y axis perpendicular to the axes X2 and X4.
• the Y axis is fixed or almost fixed with respect to the segments 2 and 4 even if the position of this axis with respect to these segments may vary slightly during the movement in some cases and according to the geometry of the proximal ends of the segments and inserts and / or due to slight parasitic movements of the joint.
• the Y axis extends in a transverse direction and the X2 and X4 axes extend in a longitudinal direction.
• Figure 1A the device is shown in a reference configuration in which the X2 and X4 axes are aligned. It is understood that when the joint is moved around the Y axis the X2 and X4 axes do not remain parallel.
• the hinge 6 is formed, in the example shown, by four strands of cables arranged in pairs on either side of the X2 and X4 axes.
• the strands extend advantageously parallel to the axis X2 in the segment 2 and parallel to the axis X4 in the segment 4. They can be held for example by pinching as illustrated in FIG. 1A, ie at the level of their ends in the rigid segments 2, 4 are inside these segments, so that their free length between these segments remains low and varies little during the movements around the axis Y.
• a cable is formed of a set of wires or compounds of natural or synthetic woven or non-woven fibers having a main elongation direction much greater than its transverse dimensions.
• a cable may be formed by an assembly of strands, the strands may themselves be wrapped around a core. Its section may be for example and not limited to round or elliptical.
• the cables may be made of steel, aramid, Kevlar®, Dyneema® or Micro Dyneema®, polypropylene or any other material capable of offering the desired mechanical properties for such a joint, that is to say a very low flexural strength and high tensile strength, and high resistance to fatigue.
• the fibers can be braided and not formed from strands or they can be formed from strands.
• the cables can be treated in depth or coated to promote their resistance to eg wear, moisture or ultraviolet radiation. purples. This treatment can be provided to each fiber individually and / or to the entire cable.
• the two rigid segments 2, 4 are of similar structures.
• the first segment 2 comprises a first part 8.1 forming the body of the segment and a second part 10.1 located at a proximal end of the first segment and intended to come in proximity and advantageously in contact with the second rigid segment 4.
• the second part 10.1 is formed by an insert attached to the body 8.1.
• the second segment 4 also comprises a body 8.2 and an insert 10.2 at its proximal end intended to come in proximity and advantageously in contact with the insert 10.1.
• the inserts 10.1 and 10.2 comprise a lower part and an upper part receiving between them the cables that they can contribute to maintaining, for example by pinching.
• the proximal ends of the inserts have a section, in a plane perpendicular to the axis of the joint, advantageously substantially triangular to allow a large angular displacement between the two segments and to ensure the guiding of the joint.
• These inserts are made with great precision.
• the free length of the cables between the two proximal ends of the inserts is very small in order to achieve a very precise articulation.
• the proximal end of the inserts has a profile ensuring both a good mechanical strength and the realization of a joint between the two inserts as close as possible to a pivot.
• it is a rounded profile.
• the roundings are of very small size over the entire width of the inserts.
• the line of contact between these roundings which can vary slightly according to the rolling and sliding movements between them, defines the axis of rotation Y.
• the realization of these roundings requires a great precision so that the Y axis varies the least possible during the movement.
• the diameter of the round is typically of the order of magnitude or slightly smaller than the diameter of the cables or their smaller dimension once pinched between the inserts.
• the rounding may have the shape of an angular portion of a cylinder whose generator is a circle, an ellipse or any other adapted form.
• the bodies 8.1, 8.2 also comprise a lower portion and an upper portion secured to each other, for example by means of screws as shown in Figure 1A, now simultaneously in place the inserts and can also contribute to maintaining cables by pinching.
• Other securing means are possible, for example by riveting, gluing, welding or assembly by any other appropriate means.
• transverse edges of the articulation that is to say the parts of the inserts furthest from the axes X2 and X4 along the axis Y, are the most stressed areas of the joint when stresses are applied in all directions.
• the cable strands are then arranged on the transverse edges of the segments.
• the inserts 10.1, 10.2 comprise transverse means for holding the cables, preventing any movement along the axis of rotation Y.
• the inserts are provided with grooves each receiving a cable.
• the grooves on the two inserts are made so that they are aligned in pairs along the longitudinal direction when mounting the device.
• the holding means could also be formed by stamping the surfaces of the inserts from gripping the cables.
• the inserts are made of hard material, for example steel or stainless steel.
• the structure then offers good mechanical strength and low wear, which is produced due to friction between the two inserts.
• the bodies 8.1, 8.2 segments are lightweight material, which allows for lightweight structures, for example aluminum or plastic material.
• the cables are held longitudinally by pinching between the lower and upper portions of the inserts and / or bodies of each segment.
• the facing surfaces of the upper and lower portions of the inserts and the bodies of the segments may still have an irregular surface condition obtained for example by machining, sanding or stamping, in order to maintain the cables more effectively.
• the cable or cables may be provided with nodes to promote this grip.
• Other parts such as for example and in a nonlimiting manner pions perpendicular to the X2 and Y axes, respectively X4 and Y, and around which the cables would be wound can still be inserted in the segments 2 and 4 to guide and / or further strengthen the cable retention.
• the cables could be mounted free longitudinally in the inserts and bodies and subsequently tensioned by an additional external tensioning system.
• the inserts 10.1, 10.2 are advantageously placed in contact with each other so that the free length of the cables is minimal. After assembly the inserts no longer move relative to the body.
• the inserts have a transverse dimension greater than that of the bodies and / or have lateral impressions, which makes it possible to hold them in place by means of additional means (not shown), for example fixed brackets or clamps, time to perform body mounting or body molding on inserts.
• cables that protrude longitudinally bodies at the distal ends and come the tender during molding.
• other parts such as for example and not limited to pions perpendicular to the X2 and Y axes, respectively X4 and Y, held by the mold and around which would come to wind the cables before molding so to guide them and / or to reinforce their maintenance.
• the insert 10.1 is that implemented in the member of FIG. 1A, this latter comprises two parts 10.1 ', 10.1 ", each being provided with grooves 12 extending along the longitudinal direction and to form a housing for each cable
• two pairs of housings are thus formed. Width close to or slightly greater than the diameter of the cables to facilitate their insertion and a height close to or slightly less than the diameter of the cables to crush them slightly without hurting them.
• the cables are then brought as close as possible to the middle plane of the articulated limb so that the joint works optimally.
• the total height of the housing may be 0.3 mm or 0.4 mm.
• the grooves prevent any transverse movement of the cables.
• each of the proximal ends of the portions 10.1 ', 10.1 " has a tapered shape so that when the two insert portions are superimposed, the insert has a pointed end end, and each of the proximal ends preferably has a rounded shape.
• the rounded shapes of the proximal ends of the two parts 10.1 ', 10.1 " are advantageously symmetrical so that the middle plane of the rounding formed by the assembly of the parts 10.1', 10.1" of the insert is in the middle plane of the cables.
• the inserts can be molded or machined separately or along a long rod, which is then cut to separate each insert.
• the roundings have an arcuate profile. It is understood that this profile could be different and of any type adapted, for example and not limited to elliptical arc or involute circle.
• insert 210.1 This differs from those previously described in that it can be assembled before assembling the bodies.
• the distal ends of the parts 210.1 ', 210.1 “comprise assembly means 214, for example by screwing, after the introduction of the cables.
• the inserts could be made in one piece, holes would be bored or drilled for the passage of cables.
• the flanges could also be made on the segments. In both cases, however, the contacts between the flanges and the insert or the opposite segment reduce the transparency of the device in comparison with inserts provided with grooves according to the examples described above.
• FIG. 5 another example of a hinged limb according to the first embodiment can be seen in which the hinge 406 comprises two strips or plies 406.1, 406.2 of fibrous materials.
• the bodies 408.1, 408.2 are molded around the inserts 410.1, 410.2. It is understood that they could also be assembled as in the embodiment of Figure 1A.
• the fibrous material of the strips or plies which form the hinge 406 may be of the woven type, that is to say that it is obtained by weaving weft yarns and warp yarns. It then offers a significant resistance along the axis of the weft yarn and along the axis of the warp yarn.
• the strips or webs of fibrous material may also be formed of nonwoven material.
• it is made of a veil or a sheet of individual fibers oriented directionally or randomly, particularly bonded by friction and / or cohesion and / or adhesion.
• the orientation of the fibers makes it possible to determine a preferred direction of tensile strength.
• the fibrous material can be treated in depth or coated to promote its resistance to eg wear, moisture or ultraviolet rays.
• This treatment can be provided to each fiber individually and / or to the set of each strip or each sheet.
• the width of the strips or sheets can vary without departing from the scope of the invention.
• stray movements in particular the rotational movements about the axes X2 and X4.
• grooves are provided in the inserts to limit the transverse displacement of the strips.
• the grooves have a width sufficient to fully accommodate each band.
• FIGS 6A and 6B is shown an example of articulated member according to a second embodiment. This differs from the first embodiment in that the cables and / or strips are not arranged inside the inserts and segments but run on the outer faces of the inserts.
• the articulated member has two segments 502, 504 each formed of a body 508.1, 508.2 and an insert 510.1, 510.2 and a hinge 506.
• the inserts 510.1 and 510.2 are each formed in one piece. They have a proximal end of section, in a plane perpendicular to the axis of the joint, preferably generally triangular and a distal end intended to form a fastening portion with the body.
• the two inserts 510.1, 510.2 are in contact by their proximal ends.
• the inserts are advantageously made of hard material, such as steel, and bodies of light material, for example aluminum or plastic material.
• the proximal end of the inserts may be rounded locally, with an arcuate profile or otherwise.
• the body is made in one piece and molded on the attachment portion of the insert.
• the body is made in two parts assembled together and with the inserts with a fixing by screw, rivet, glue, welding or any other suitable means.
• the joint is formed of cable strands attached to a lower face, respectively upper of a segment and an upper face, respectively lower of the other segment.
• the cable strands then run along the bodies 508.1, 508.2, and inclined faces of the inserts 510.1, 510.2.
• the inserts 510.1, 510.2 comprise grooves 512 on their inclined faces for guiding the cable strands.
• the grooves 512 advantageously have a depth chosen so that the total depth of the grooves facing is substantially equal to or slightly less than the diameter of the cable. In this case, the portion of the cable strands located at the axis of rotation Y is fully transversely constrained.
• the inserts 510.1, 510.2 comprise on each inclined face two groups of four grooves 512, each groove having a depth close to or slightly less than half the diameter of the cable, thus leaving a space of depth substantially equal to the diameter of the cable at the interface between the two inserts.
• the cable 505 actually only travels two grooves per group.
• This embodiment makes it possible to have only one model of insert which can be used for the two segments. Indeed, as can be seen in Figure 6B, it is not the same grooves 512 which are traversed by the cables on the insert on the left and the insert on the right. This achievement allows significant cost savings and simplification in the realization of each segment.
• the cable strands are advantageously located at both transverse ends of the segments and inserts.
• the cable strands are staggered, one cable strand of a segment alternating with a cable strand of the other segment. This realization is not limiting.
• the cable strands form four loops obtained for example by gluing, knotting or splicing two cable ends together. These loops pass around pins 513 protruding bodies, which keeps the segments in contact.
• a cable tensioning system such as for example and without limitation a turnbuckle, an eccentric or a set screw. These means are well known to man and the art and will not be described in detail.
• the 8 cables of the 2 sets of 4 cables could still be independent and each one fixed on the segments 502 and 504.
• FIG. 7 an articulated limb variant of FIGS. 6A and 6B can be seen in which the bodies 508.1 ', 508.2' are molded on the cables 505.
• the cables are trapped in the segments after molding.
• pins that are perpendicular to the axes X 2 and Y, respectively X 4 and Y, and around which the cables would be wound can still be inserted into the segments 50 2 and 50 4 to guide and / or further strengthen the cable retention.
• These devices are of course not limiting and any other means for promoting the attachment of the cables in the segments 502, 504 can be used.
• FIGS. 8A and 8B another variant of the second embodiment can be seen in which the inserts 610.1, 610.2 comprise a number of grooves 612 equal to the number of cable strands 605.
• the inserts 610.1, 610.2 comprise a number of grooves 612 equal to the number of cable strands 605.
• only one 610.1 ' , 610.2 'inclined faces of each insert 610.1, 610.2 has grooves 612 whose depth is substantially equal to or slightly less than the diameter of the cable.
• Each cable strand travels in a groove 612 on an inclined face 610.1 ', respectively 610.2', of an insert 610.1, respectively 610.2, then when it passes over the other insert 610.2, respectively 610.1, it travels on the inclined face 610.2 ", respectively 610.1", devoid of grooves, the other insert 610.2, respectively 610.1 ( Figure 8B).
• the number of machining per insert is thus reduced.
• the grooves are made on the faces 610. and 610.2 'and the faces 610.1 "and 610.2" are smooth. It is understood that the grooves could also be made on any other combination of two faces to maintain the cables in the direction of the axis of the joint, for example the faces 610. and 610.1 ", the other two faces, for example 610.2 'and 610.2 ", being smooth.
• the grooves have a constant depth. It is understood that they could also have a variable depth, for example zero on the side of the body segments and a depth sufficient to receive the cables or fiber strips near the joint.
• the guide means are formed by two lateral flanges on the inserts and / or the segments as in FIG. 4.
• FIGs 9A and 9B we can see another embodiment of an articulated member according to the second embodiment, wherein the guide means are formed by notches 712 made only at the vertices of the inserts. These notches 712 also allow here to ensure that the cable crosses the connecting axis while ensuring the locking along the axis. These are very simple and very inexpensive to perform, as shown in Figure 9B.
• Each insert 710.1, 710.2 has two groups of four notches 712. On each group of four notches, two of them receive the strands of cable 705 passing from the upper face of the segment 702 to the lower face of the segment 704 and the other two the cable strands 705 passing from the lower face of the segment 702 to the upper face of the segment 704. This allows the manufacture of a single insert model.
• inserts may also have proximal triangular or locally rounded ends.
• FIG. 10 another example of an articulated limb according to the second embodiment can be seen, in which the hinge 806 is formed by 807 strips of woven or non-woven fibers.
• the body 808.1, 808.2 is molded on the insert 810.1, 810.2 and on the fiber strips 807.
• the strips advantageously protrude from the mold so as to be able to stretch them during the assembly of the device, then they are embedded in the material of the segments, which keeps them in place.
• this molding on the strips provides protection vis-à-vis the external environment. As before or could use a different number of bands or webs, or even a single band of great width.
• articulated limbs using cables it would be possible in this case as on all the articulated members made by molding the segments of the bodies on the inserts to pass the strips or sheets of woven or non-woven fibers in sheaths shapes adapted so that they are not fixed in the bodies of the segments after the molding and can be folded or replaced in case of wear.
• an attached cover could be provided to protect the cables or strips.
• these configurations where the cables are visible can change them in case of wear or breakage, which promotes the maintenance of the device.
• a third embodiment is shown. This combines the first and second embodiments, the hinge 906 is then formed by cables 905 which are housed in the inserts 910.1, 910.2 and cables 905 'which run on the inserts 910.1, 910.2 and / or the bodies 908.1, 908.2 segments. In Figure 11B, only one of the two parts of the insert is shown.
• the inserts 910.1, 910.2 are in two parts provided with grooves 912 (FIG. 11B) for guiding the cables 905 housed in the inserts and notches 912 'in the vertices of the inserts 910 for guiding the cables 905' walking on the inserts.
• inserts of the first and second embodiments may be combined and implemented in the articulated limb according to the third embodiment of realization.
• the bodies may be overmolded on the inserts and the cables may form loops around pawns on the bodies.
• the guidance of the cables could be achieved by the different types of grooves described above.
• FIG. 12 shows another example of an articulated limb according to the third embodiment, in which the cables are replaced by strips of woven or non-woven fibers 907.
• the strips 907 protrude longitudinally from the distal ends of the body, which allows them to be stretched during molding
• the articulated members of the various embodiments described may be equipped with one or more measuring elements.
• This measuring element may be in the form of a thin flexible film.
• This measuring element may for example be composed of two fine electrodes deposited on a thin flexible polymer element, the deformation of which will lead to a variation of the shape of the electrodes and / or the distance between the electrodes, hence the resistance or the capacity of the device. It can also be formed from a flexible plastic or conductive polymer (loaded with metal particles for example) whose resistance varies as a function of its deformation, for example in the form of son. Alternatively, it may also consist of one or more optical fibers associated with a transmitter (for example a diode) and a receiver (for example a photodiode).
• the amount of light transmitted through the fiber varies according to its curvature and the measurement of the amount of light received by the receiver gives an image of the angle of articulation.
• It can still be a woven or non-woven fibrous material, for example filled with metal particles, and whose electrical properties, for example the resistance or the capacitance between two probes, varies according to the configuration of the joint.
• the fibrous material may advantageously be the same as that of the joint.
• the longitudinal ends of the measuring elements could also be pinched in the inserts together with the cables or strips.
• Such measuring elements are very compact and very flexible and offer little resistance to movement of the joint. They allow at any time to know the position of the joint.
• the measuring element can be placed in parallel with the articulation.
• it could be formed by a diode placed on one of the segments and a photodiode placed on the other segment and connected by an optical fiber passing next to the joint, for example by cutting the Y axis and bypassing inserts or passing over or under the inserts, optical fiber whose optical losses increase with the radius of curvature.
• the light received by the photodiode is a function of the distance between it and the diode so the angle between the two segments.
• the senor may be formed by a portion carried by the first segment and a portion carried by the second segment without mechanical connection between the two parts.
• This type of sensor has the advantage of being completely transparent at the joint. Indeed, the elements of measurement presented previously add a resistance at the level of the articulation, which is not the case here.
• a coil deposited or glued on one of the segments for example on one of the inserts, and a second coil deposited or glued on the other segment, for example on the other insert, and functioning as antennas whose inductive coupling is a function of the angle between the segments.
• It may also be a coil deposited or glued on one of the segments, for example on one of the inserts, and a magnet fixed or glued on the other segment, for example on the other insert and modifying the electric or magnetic field of the coil depending on the angle between the segments.
• It can also be a diode fixed on one of the segments, for example on one of the inserts, and a photodiode or a linear or surface PSD fixed on the other segment, the amount of light received by the photodiode and / or the position of the diode image on the PSD varying according to the angle of the joint. It may still be a miniature camera attached to one of the segments and whose image of the second segment varies with the angle of the joint.
• the sensor can still provide an indirect measurement of the position of the joint. It may thus for example and without limitation consist of a first accelerometer deposited or glued on one of the segments, for example on one of the inserts, and another accelerometer fixed or glued on the other segment , for example on the other insert, and whose combination of measurements can calculate the acceleration of the joint and, by double integration, possibly filtered, its position.
• the articulated members generally comprise inserts at each of their longitudinal ends for allow to achieve poly-articulated structures, for example of the parallelogram type.
• Each articulated member does not have, at both ends, necessarily the same type of articulation and inserts, and all combinations are possible.
• they are members according to two different embodiments. The use of the same embodiment and the same technical solutions will, however, be advantageously retained for all the joints of the same structure because it allows to minimize the cost of production.
• the inserts are generally symmetrical with respect to the plane of the cables or the fibrous material and the bodies of the segments and the inserts are contained in the same plane. This arrangement is particularly advantageous for obtaining symmetrical deflections with respect to a reference configuration where the segments are in the same plane.
• the bodies of the segments are not contained in the plane of the inserts defined as the bisecting plane of the inclined faces of these inserts.
• the bodies of the segments may be located in planes orthogonal to the planes of the inserts or having any inclination with respect thereto as a function of the structure of the mechanism to be produced.
• the articulated limbs according to the invention can be used to produce poly-articulated mechanical chains. They are particularly adapted to the realization of small mechanisms because they are compact and light, to the realization of portable mechanisms because they are light and solid, and mechanisms presenting a complex kinematic architecture (parallel and / or coupled) because they are compact and simple to make.
• the assembly of a complex mechanism can be molded in a single operation, with the use of molds of sufficient size and to maintain all the cables or bands and all the inserts during molding.
• Fig. 13 an example of a polyarticulate mechanism made from articulated limbs according to the present invention can be seen.
• the mechanism comprises three articulated members according to the invention arranged in series.
• a first segment M2 articulated at one of its ends is connected by a first articulation to a first segment M1 articulated at its two ends
• segment M1 is connected by a second articulation to a second segment M1 also articulated at its two ends
• the second segment Ml being itself connected by a third articulation to a second segment M2 articulated at one of its ends.
• this mechanism can be obtained by simultaneously molding the three articulated members, which are here of the type of those of Figure 5.
• the mold advantageously incorporates devices for holding the inserts and cables during operation. injection of the segment material. To stretch the fiber strips during this phase, they advantageously exceed external segments so that we can hold and stretch them. Alternatively, one could also use cable strands.
• This example of a mechanism is not limiting and such a mechanism can be realized with all the examples of articulated members described above.
• Such a mechanism can also be obtained by performing each of the links separately and then assembling the segments together in a conventional manner, for example by gluing, riveting, screwing, welding, etc.
• FIGS. 14A and 14B another example of a poly-articulated mechanism can be seen. In this example the mechanism forms a closed loop.
• This mechanism comprises straight segments 2 and bent segments 2 '.
• the longitudinal axis of the body 8 'and the longitudinal axis of the insert 10' form, in the example shown, a right angle.
• Such a mechanism can be realized in two steps, a first molding step similar to that of the mechanism of FIG. 13 and then a step of closing the mechanism by a mechanical assembly, for example by means of screws as represented in FIG. 14B. .
• a mechanical assembly for example by means of screws as represented in FIG. 14B.
• the structure of Figure 14B allows for significant deflections in both directions.
• Such mechanisms and more generally such articulated members can be motorized to move one of the segments relative to the other around the axis of rotation, or be provided with a brake to oppose a displacement of the one of the segments with respect to the other, for example in force feedback systems.
• the actuating device 18 comprises a motor 20 advantageously provided with an angular position sensor 21 and fixed on the segment 2 which drives the other segment 4 by means of a capstan reducer comprising a first pulley 22 in direct contact with the motor shaft 20, a cable 24 wound several times on the first pulley 22 to prevent sliding on the latter and fixed at its two ends to a second pulley 26 of axis Y which is fixed on the other segment 4.
• the second pulley 26 provided with a support can be attached to the segment 4, for example by screwing, gluing or welding. Alternatively, it can be molded together with this segment with which it then forms a single piece.
• the first pulley 22 is of smaller diameter, and the second pulley is of larger diameter.
• this displacement or torque is transmitted to the other segment 4 via the pulley 26.
• This type of gearbox has the advantage of being reversible, very transparent and a very high efficiency.
• the movements of the moving segment can be measured and controlled precisely using the engine position sensor and / or a sensor placed directly at the joint.
• the effort on the moving segment can be measured and enslaved precisely by using the motor torque and / or an additional force sensor.
• the motor torque can be advantageously estimated from the current flowing in its windings if it is an electric actuator.
• the first pulley 22 may be smooth or threaded to promote the attachment of the cable thereon.
• the attachment of the ends of the cable on the second pulley and the means of stretching the cable are made by any known means and will not be described in detail here.
• gear units may be used, for example and without limitation gear reducers, friction, tape, wheel and worm, etc.
• the angular position sensor can be of any type, for example an optical encoder, a Hall effect sensor, a magneto-optical sensor, etc.
• the motor can also be of any suitable type, for example a DC electric motor, a Brushless motor, a pneumatic or hydraulic actuator, a shape memory alloy, an electro-active polymer, etc. It could also be used.
• brake for example electrorheological fluids or magnetorheological, a disk brake, powder, ...
• the actuator comprises a jack 27 whose body 28 is rotatably mounted on the segment 2 about an axis Y1 parallel to the axis of rotation Y and the rod 30 is articulated at the level of its free end on the other section 4 about an axis Y2 parallel to the axis of rotation Y.
• the cylinder 27 may be equipped with any type of position sensor for measuring the position of the rod 30 relative to the body 28, for example and without limitation an LVDT sensor or a linear potentiometer. It is, of course, also understood that the Y1 and Y2 axis links could be made using articulated members according to the present invention.
• FIG. 17 shows an actuating device comprising two opposing motors 32, 34 mounted, in the example shown, for one on one face of the segment 2 and for the other on an opposite face of the segment 2
• the motors 32, 34 are advantageously provided with angular position sensors 33, 35 (hidden in FIG.
• a pulley 36 or 38 is mounted in direct engagement with the motor shaft 32, respectively 34.
• a second large-diameter pulley 39 is integral with the other segment 4.
• a cable 40 formed of a single strand or two separate strands each associated with a motor runs and is fixed on the pulley 39 and is wound and fixed at a first end on the pulley 36, and at a second end on the pulley 38.
• the antagonistic operation of the two motors can control at the both the pivoting around the Y axis up or down the segment 4 and the internal forces in the joint.
• FIG. 18 An example of a robot is shown in FIG. 18.
• This comprises a first hinged member similar to that of FIG. 15 consisting of a base 41, a first movable segment 42 and a vertical A-axis hinge. actuated by a motor A1 fixed to the base 41 and ensuring the displacement of the segment 42 about the axis A by means of a first capstan gearbox C1 whose secondary pulley is fixed on the segment 42.
• the Capstan cables are not shown so as not to overload it.
• the robot also comprises an articulated parallelogram 43 similar to the mechanism of FIG. 14B but having an additional articulation to ensure its mobility with respect to segment 42.
• This parallelogram thus comprises 5 articulated members, the first member consisting of segment 42, a second mobile segment 44 and a horizontal axis B articulation, and actuated by an A2 actuator attached to the segment 42 (and not visible in Figure 18) via a capstan reducer including secondary pulley C2 is fixed on the segment 44, the second member consisting of the segment 42, a third movable segment 45 and a joint axis B identical to that of the second articulated member, and actuated by an actuator A3 also fixed on the segment 42 by means of a capstan reducer whose secondary pulley C3 is fixed on the segment 45, the third, fourth and fifth members being passive and constituted s respectively for the third member of the segment 44, a fourth movable segment 46 and a C-axis joint, for the fourth member of the segment 45, a fifth movable segment 47 and an
• the axes B, C, D and E are parallel to each other and the distances between the axes B and D and between the axes C and E are equal, as well as the distances between the axes B and C and between the axes D and E.
• the segment 47 serves as connecting rod and transmits the movements and efforts of the segment 45 to the segment 46.
• the robot still has a wrist with a clip.
• This wrist has three joints implementing four articulated members according to the invention.
• the first member consists of the end of the segment 46, the movable segment 50 having two parallel arms 52 rigidly connected by a U-shaped part 54 and an axis F articulation advantageously parallel to the main elongation direction of the segment 46. It is actuated by an actuator A4 fixed on the segment 46 by means of a capstan reducer whose secondary pulley C4 is fixed on the U-shaped part 54.
• the second and third members consist of portions of the two parallel arms 52 located at their end opposite to that connected to the U-shaped piece 54, parallel arms 58 rigidly connected by a cross member 60 so as to form a U-shaped piece 56 and two collinear G-axis joints allowing a single mobility of the segment 56 relative to the segment 50 around the axis G.
• the second articulated member is actuated by an actuator A5 attached to one of the arms 52 via a reducer capstan whose secondary pulley C5 is fixed on the arm 58 opposite.
• the third member is passive.
• the crosspiece 60 carries an eighth movable segment 61 provided at its free end with a clamp 62.
• the cross member 60 forms with the segment 61 and a hinge axis H an articulated member actuated by an actuator A6 fixed on the cross member 60 by the intermediate of a capstan reducer whose secondary pulley C6 partially visible in Figure 18 is fixed on the segment 61.
• An actuator (not shown) is provided to open and close the clamp.
• the clip is schematically represented. It can comprise a varied number of joints according to the complexity of its kinematics. It may advantageously be performed using articulated members according to the invention. It could also be a more complex gripper, possibly equipped with several actuators, such as for example and without limitation a robotic hand, without departing from the scope of the invention.
• This robot architecture allows the gripper to move in all directions in translation and in rotation. All the actuators are advantageously provided with angular position sensors, which makes it possible to control these displacements and / or the forces applied by the robot. Thanks to the invention, the structure is relatively light and its cost is reduced because of the realization of all the inserts in series.
• FIG. 19 we can see an example of a haptic interface made using articulated members according to the invention.
• the structure is identical to that of the robot of FIG. 18, with the exception of the clamp which has been replaced by a handle 64 allowing manipulation by an operator.
• the references designating the other parts of this interface which are similar to that of the robot of FIG. 18 are not shown in FIG. 19.
• Actuators and position sensors can thus be of any type, in particular those described above.
• Reducers also can be of any type and not necessarily capstan reducers.
• the articulated members may also be provided with position sensors, in particular those described above.
• such structures can combine articulated limbs according to the invention and more conventional joints such as for example and non-exhaustively ball bearing joints or smooth bearings, for example bronze or PTFE, without leaving the framework of the invention.
• the wrist of the robot of Figure 18 or the haptic interface of Figure 19 could be replaced by a parallel or mixed serial wrist parallel, such as for example and not limited to a 4-bar spherical mechanism in series with a pivot connection.
• Articulated limbs according to the present invention are particularly suitable for the realization of small size mechanisms such as portable devices, such as a glove force return.
• An example of such a glove made with articulated members according to the invention is shown in FIG.
• the glove of FIG. 20 comprises three force return robots R1, R2, R3 intended to interact with the thumb, the index and the middle finger, respectively.
• the robot R2 comprises a carrier with three degrees of freedom formed of a pivot connection 65 in series with a parallelogram structure 66.
• these axes are actuated by remote motors whose movements are transmitted to the glove by means of cables running in sheaths of which only the ends 67 are shown in FIG. 20.
• they could be actuated by onboard motors.
• the motors are here used bidirectionally, two sheaths are then required for each motorized joint.
• the engine or motors would be used to drive the efforts in one direction, for example to resist the efforts of closing the hand, a single sheath would be necessary. Springs could then for example be provided to act in the other direction.
• Return pulleys may advantageously be placed inside the cowling 100 of the robot to deflect the cables and return them correctly between the outputs of the ducts and the pulleys to be actuated.
• Such return pulleys as well as the means of arranging them correctly in space are well known to man and art and will not be detailed here.
• the cowling is shown closed in Figure 20 and hides the return pulleys.
• the robot R2 comprises pivot connections made in conventional manner using plain bearings to rotate the two elements to be articulated with respect to one another.
• This is the pivot connection 65 between the base 68 of the robot and a shoulder 70 of the robot R2 comprising an actuating pulley 70a and a U-shaped part 70b supporting the parallelogram 66, a pivot connection between the shoulder 70 and the arm 74 and a pivot connection between the shoulder 70 and a rod 76 which drives the actuating rod 78 a forearm 80 that we see better on the robot R3 major.
• These guides are classic and are not presented in detail. One could of course provide for all or part of these links with members articulated according to the present invention.
• the same cable is used to contribute to the realization of several links and two cables 91, 92 only are used to achieve the three links of the parallelogram associated with articulated members according to the present invention.
• the cable 91 is attached to a tensioner 93 disposed on the arm 74, the tensioner being movable in rotation relative thereto. It then travels along the segment of the arm 74 then passes through the inserts of the arm 74 and a first end of the forearm 80 and then travels along the segment of the forearm 80. It then passes through the inserts disposed at the other end of the forearm 80 and at one end of the connecting rod 78 and then runs along the connecting rod.
• the cable 92 follows a similar path starting from a tensioner 94 and then running along the parts of the parallelogram and through the inserts at their ends and then back to the tensioner 94.
• the tensioners are provided to ensure the tensioning of the cables 91, 92. For example, they are drilled pins that allow to stretch the cable by turning them about their axis. They are then held in place with a nut and a locknut.
• a cable is located on one edge of the parts and the other on the opposite edge so as to distance as far as possible the cables to best resist stray forces, as already described above.
• the robot R2 also has a wrist 84. On most robots the wrists have three swivel joints. As we have seen in Figures 18 and 19, most of the time the first pivot connection has its axis parallel to the main elongation direction of the forearm and is disposed near the end of the robot the second is perpendicular and the third is perpendicular to the first two in a reference configuration. In the example shown in Figure 20, the selected configuration is different.
• the first pivot connection 88 which is better seen on the robot RI has an axis parallel to the main elongation direction of the forearm, but here it is advantageously offset near the parallelogram.
• the first mobile segment 85 of the wrist can thus advantageously be hollowed over a great length. This recess lets the finger pass when it is folded.
• the second pivot connection 89 has an axis advantageously perpendicular to the first and is disposed at the end of the robot. It connects the segment 85 to a second movable segment 86 of the wrist for receiving the end of the finger.
• the base of the robot is advantageously placed relative to the palm of the hand so that, for most users, this axis is parallel or almost parallel to the axes of the inter-phalangeal connections.
• the size of the second mobile segment of the wrist, and in particular the depth of the hollow receiving the end of the finger is also advantageously chosen so that this axis passes in the middle plane of the end phalanx of the finger.
• the hollow of the segment 86 receiving the end of the finger advantageously has the shape of a cylinder terminated by a sphere so as to accommodate slight parasitic movements. It is understood that one could add a third pivot connection, perpendicular or not to the first two in a reference configuration, without departing from the scope of the invention.
• These two links are made by means of articulated members according to the present invention.
• the pivot connection 89 is obtained here by means of two articulated members making pivotal connections 89a and 89b of colinear axes that are better seen on the robot.
• a cable 95 is attached to a tensioner 97 disposed on the first segment 85 of the wrist, the tensioner 97 being rotatable relative thereto. It then passes through the inserts of the segment 85 and the forearm 80 then goes around a pin disposed on the forearm 80. It then passes through another groove of the inserts of the forearm 80 and segment 85 and then runs along the segment 85 bypassing a pin that allows to maintain it above one of the edges of the recessed portion of the segment 85. It then passes through inserts arranged at the other end of the segment 85 in one of the edges of the recessed portion of this segment and the second segment 86 of the wrist.
• the cable 96 follows a similar path starting from a tensioner 98 and then running along the wrist pieces through the inserts at their ends then returning to the turnbuckle 98.
• the tensioners are drilled axes which allow the cable to be tensioned by turning them about their axis. They are then held in place with a nut and a locknut.
• a cable is located on one edge of the parts and the other on the opposite edge so as to distance as far as possible the cables to best resist stray forces.
• the cable 95 passes in particular on one of the edges of the recessed portion of the segment 85 and the cable 96 on the other edge of the recessed portion of the segment 85.
• the glove is also provided with flexible straps 87 arranged at the end of each of the robots and for maintaining the fingertips in contact with the segments 86.
• flexible straps 87 arranged at the end of each of the robots and for maintaining the fingertips in contact with the segments 86.
• RI, R2, R3 whose movements are measured by the encoders of local or distant motors (not shown). This information can then be used for example to control an application in a virtual environment or a remote robot. Engines can also be ordered to return the user a force feedback based on interactions in the virtual environment or contacts of the user. robot with its environment. These efforts are transmitted to the fingers by the three robots R1, R2, R3.
• Pulleys 74a and 76a having a role similar to that of the pulley 70a are fixed on the arm 74 and on the rod 76 and make it possible to transmit displacements and forces between the segments displaced by the user and the return motors of effort by means of hidden cables in FIG. 20.
• Additional return pulleys are advantageously used on the base of the robot and on the U-shaped part 70b of the shoulder to bring back the four cable strands actuating the pulleys 74a and 76a. near the axis of the joint 65, so as to decouple the movements of the three motorized axes. This arrangement is known to those skilled in the art and will not be detailed here. It is understood that one could also operate the wrist connections without departing from the scope of the invention.
• the robots R1, R2, R3 are advantageously placed close to the fingers, which allows wrists to two degrees of freedom only without detriment to the comfort of the device.
• the glove is advantageously fixed to the palm of the hand through straps.
• the glove could also be mounted on a robot or a haptic interface, for example in place of the clamp on the robot of Figure 18 or the handle on the haptic interface of Figure 19.
• the glove could be worn by the robot and could then be detached from the palm of the hand.
• the movements of the user's hand would then be advantageously measured by a system of type "motion capture" device well known to those skilled in the art, to enslave the movements of the robot so that it permanently maintains the glove near the hand of the user.
• the glove of Figure 20 is given as an example.
• the parallelogram could be replaced by a more complex coupled structure, more closely following the movements of the human fingers. With this type of coupled structures, one could reduce the number of engines, typically one or two per finger.
• Haptic interfaces such as those of FIG. 19 or on the ends of the glove robots of FIG. 20 could also be integrated on the handle with tactile actuators, for example piezoelectric or electromagnetic actuators, so as to increase the realism of the feedback of 'effort.
• tactile actuators for example piezoelectric or electromagnetic actuators
• robots, cobots and haptic interfaces with parallel architecture with six degrees of freedom actuated using, for example, three branches with two or three motors each,
• robots, cobots and haptic interfaces with mixed architecture with six degrees of freedom actuated for example using two branches made with a pivot and a parallelogram and a series axis,
• the articulated limb according to the present invention has a very simple and compact articulation with few parts.
• the articulation is also precise, since it presents almost no parasitic movement.
• the use of fibrous material to connect the two segments allows for very transparent joints having virtually no resistance to movement imposed by motors or a user.
• the articulated member may advantageously be very strong and have little wear.
• articulated members according to the present invention allow for poly-articulated devices of low cost, and generally having a limited mass compared to devices of the state of the art.

Landscapes

• Engineering & Computer Science (AREA)
• Robotics (AREA)
• Mechanical Engineering (AREA)
• Manipulator (AREA)
• Mutual Connection Of Rods And Tubes (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=47435964

Family Applications (1)

Country Status (4)

Families Citing this family (11)

Family Cites Families (13)

• 2011
  • 2011-12-20 FR FR1162047A patent/FR2984204A1/fr not_active Withdrawn
• 2012
  • 2012-12-19 EP EP12806456.5A patent/EP2794198A1/de not_active Withdrawn
  • 2012-12-19 US US14/367,471 patent/US9636828B2/en not_active Expired - Fee Related
  • 2012-12-19 WO PCT/EP2012/076152 patent/WO2013092714A1/fr active Application Filing

Non-Patent Citations (1)

Also Published As

Similar Documents

Legal Events