NL2013948B1

NL2013948B1 - Robot with multiple degrees of freedom.

Info

Publication number: NL2013948B1
Application number: NL2013948A
Authority: NL
Inventors: Lambert Patrice
Original assignee: Univ Delft Tech; Tech Stichting Stw
Priority date: 2014-12-10
Filing date: 2014-12-10
Publication date: 2016-10-11

Abstract

Robot (1) with multiple degrees of freedom comprising multiple legs (2) linked at a first of their ends to a base (3), and at a second of their ends opposite to the first ends to a mobile platform (4), wherein the legs (2) each have a motor drive (9) at the base (3) and wherein the platform (4) carries a tool or tools (5, 6), and wherein the robot (1) further comprises an actuator for operating the tool or tools (5, 6) which is embodied by the joint operation of the motor drives (9) of the legs (2), and wherein the robot comprises eight legs (2), where- in each leg (2) connects at its extremities to the base (3) and the platform (4) respectively.

Description

Robot with multiple degrees of freedom

The invention relates to a robot with multiple degrees of freedom comprising multiple legs linked at a first of their ends to a base, and at a second of their ends opposite to the first ends to a mobile platform, wherein the legs each have a motor drive at the base and wherein the platform carries a tool or tools, and wherein the robot further comprises an actuator for operating the tool or tools which is embodied by the joint operation of the motor drives of the legs

Such a robot with multiple degrees of freedom is disclosed by W02011/093703 in the name of the applicant.

Although it is acknowledged that the known robot meets high demands of versatility and quality of design in terms of the so-called P/M ratio wherein P stands for payload and M stands for total mass, it is an object of the invention to further improve the performance of the known robot and simplify its design.

In accordance therewith the robot of the invention has the features of one or more of the appended claims.

In a first aspect of the invention the robot comprises eight legs, wherein each leg connects at its extremities to the base and the platform respectively. These eight lacks would theoretically be capable to provide the robot with eight degrees of freedom, however as will become apparent from the following disclosure the robot of the invention is designed with 7 degrees of freedom, wherein six degrees of freedom relate to the translation and rotation of the platform in x-, y-and z-direction, and the seventh degree of freedom relates to the actuation of the tool or tools on the platform. One degree of freedom is therefore sacrificed for the greater good that the eight legs of the robot are arranged symmetrically on the base in four pairs of two legs each. The symmetrical design of the robot is highly beneficial in terms of its simplicity and the possibility to save on the amount of parts which are required for building the robot of the invention.

Regarding the position of the motor drives the applicant has found that any position will do, but that there are notable benefits in performance by arranging that the posi tions of the motor drives at the base are symmetrical and preferably form an imaginary quadrangle.

Likewise it is preferred that the platform is embodied with four symmetrically arranged members that are rota-tionally connected to each other with links. The simplicity of the design is further promoted by arranging that these four symmetrically arranged members have equal dimensions so as to shape the platform also as a quadrangle.

One of the nice features of the invention is that the majority of the legs of the robot can be simply designed as straight and rigid.

Another preferable feature is that each of the motor drives on the base drives an arm which is rotatably mounted on the base, and that each such arm individually connects to a single leg at an extremity of such leg distant from the platform.

In a further aspect of the invention each leg connects to a member of the platform between such member's hinges connecting it to neighboring members of the platform. Preferably then within each pair of two legs, a first leg connects to a first member of the platform and a second leg connects to a second member of the platform, wherein the said first member and the said second member of the platform are neighboring to each other. This design greatly simplifies and improves the motional capabilities of the platform forming part of the robot of the invention.

Beneficially the tool or tools are supported by a member and/or by a link of the platform. It is also possible that the mobile platform supports two tools occupying a distance between each other that is adjustable by the operation of the actuator.

The invention will hereinafter be further elucidated with reference to the drawing of a single figure showing an exemplary embodiment of a robot according to the invention that is not limiting as to the appended claims.

In the figure the robot of the invention is depicted with reference 1. This robot 1 has multiple degrees of freedom and comprises eight legs 2 linked at a first of their ends to a base 3, and at a second of their ends opposite to the first ends of the legs 2 to a mobile platform 4. The legs 2 each have a motor drive 9 at the base 3, and the said platform 4 carries in this embodiment two tools 5, 6. There can of course also be only a single tool. The robot 1 further comprises an actuator for operating the tools 5, 6 which is embodied by the joint operation of the said motor drives 9 of the legs 2.

As the figure clearly shows the eight legs 2 are arranged symmetrically on the base 3 in four pairs of two legs 2 each. For the two sets of legs in the foreground of the figure this is indicated with reference numerals 2' and 2’’ referring each time to the two legs 2’, 2’’ belonging to the same pair.

It is further shown that the positions of the motor drives 9 at the base 3 are symmetrical and form an imaginary quadrangle, and that the platform 4 is embodied with four symmetrically arranged members 7 that are swivably connected to each other with links 8. The four symmetrically arranged members 7 preferably have equal dimensions so as to also shape the platform 4 as a quadrangle.

Further it is shown that the legs 2, 2’ , 2’’ are straight and rigid, and that each of the motor drives 9 on the base 3 drives an arm 10 which is rotatably mounted on the base 3. Each such arm 10 individually connects to a single leg 2, 2', 2’’ at the extremity of such leg which is distant from the platform 4.

One of the beneficial features of the invention is that each leg 2, 2', 2'' connects to a member 7, 7', 1’’ of the platform 4 between such member's links or hinges 8 connecting it to its neighboring members 7 of the platform 4.

Thus within each pair of two legs 2, 2', 2'' a first leg 2' connects to a first member 7' of the platform 4 and a second leg 2'' connects to a second member 7'' of the platform 4, wherein the said first member 7' and the said second member 7'' of the platform 4 are neighboring to each other.

Finally it is shown that the tool or tools 5, 6 are supported by a link 8, but the tools can also be supported by a member 7 of the platform 4. It is further shown that the mobile platform 4 supports two tools 5, 6 that occupy a distance between each other that is adjustable by the operation of the actuator.

Although the invention has been discussed in the foregoing with reference to an exemplary embodiment of the robot of the invention, the invention is not restricted to this particular embodiment which can be varied in many ways without departing from the gist of the invention. The discussed exemplary embodiment shall therefore not be used to construe the appended claims strictly in accordance therewith. On the contrary the embodiment is merely intended to explain the wording of the appended claims without intent to limit the claims to this exemplary embodiment. The scope of protection of the invention shall therefore be construed in accordance with the appended claims only, wherein a possible ambiguity in the wording of the claims shall be resolved using this exemplary embodiment.

Claims

A robot (1) with a plurality of degrees of freedom comprising a plurality of legs (2, 2 ', 2' ') connected with a first of their ends to a base (3), and at a second of their ends opposite to the first ends with a mobile platform (4), wherein the legs (2, 2 ', 2' ') each have a motor drive (9) on the base (3), and wherein the platform (4) is a tool or tools (5, 6 ), and wherein the robot (1) further comprises an actuator for actuating the tool (s) (5, 6) which is achieved by the joint action of the motor drives (9) of the legs (2, 2 ', 2' '), characterized in that it comprises eight legs (2, 2', 2 ''), each leg being connected at its ends to the base (3) and the platform (4) respectively.

Robot according to claim 1, characterized in that the eight legs (2, 2 ', 2' ') are placed symmetrically on the base (3) in four pairs of two legs each.

Robot according to claim 1 or 2, characterized in that the positions of the motor drives (9) on the base (3) are symmetrical and form an imaginary square.

Robot according to any one of claims 1-3, characterized in that the platform (4) is designed with four symmetrically arranged members (7) which are rotatably connected to each other with the aid of couplings (8).

Robot according to claim 4, characterized in that the four symmetrically arranged members (7) have the same dimensions in order to form the platform (4) as a square.

A robot according to any one of claims 1-5, characterized in that each of the motor drives (9) drives an arm (10) on the base (3) which is rotatably mounted on the base (3), and that each such arm (10) is individually connected to a single leg (2, 2 ', 2' ') at an end of that leg remote from the platform (4).

A robot according to any one of claims 4-5, characterized in that each leg (2, 2 ', 2' ') is connected to a member (7) of the platform (4) between the couplings (8) of that member who connects these with neighboring members (7).

A robot according to claim 7, characterized in that within each pair of two legs (2, 2 ', 2' '), a first leg (2') is connected to a first member (7 ') of the platform ( 4) and a second leg (2W) is connected to a second member (7 '') of the platform (4), said first member (7 ') and said second member (7' ') of the platform ( 4) adjacent to each other.

A robot according to any one of claims 1-8, characterized in that the tool or tools (5, 6) are supported by a member (7) and / or a coupling (8) of the platform (4).

A robot according to any one of the preceding claims, characterized in that the mobile platform (4) carries two tools (5, 6) which take a distance relative to each other that is adjustable due to the operation of the actuator.