Title:
METHOD FOR EXTERNAL FORCE TO DRIVE MOVING PIECE IN MECHANICAL JOINT
Document Type and Number:
WIPO Patent Application WO/2017/020873
Kind Code:
A1
Abstract:
A method for an external force to drive a moving piece in a mechanical joint, wherein less force is used to drive the moving piece in the mechanical joint. The joint comprises a stationary piece, the moving piece and a driving mechanism (13), the driving mechanism comprises a servomotor (131), a driver (132) and an encoder (133), and the servomotor is connected to the moving piece. The driving method is: when the joint is in a stationary state, the servomotor is in a torque mode, and the servomotor outputs a resistance-reducing torque having a direction which changes with time; the external force is used to drive the moving piece, so that the moving piece moves with respect to the stationary piece; the driver determines the movement direction of the moving piece according to an output of the encoder; if the moving piece is moving in a positive direction with respect to the stationary piece, the servomotor is controlled to stop outputting the resistance-reducing torque or output an assistance torque enabling the moving piece to have a positive direction movement trend; if the moving piece is moving in reverse with respect to the stationary piece, the servomotor is controlled to stop outputting the resistance-reducing torque or output an assistance torque enabling the moving piece to have a reverse movement trend.
Inventors:
LIN ZHONGWEI (CN)
Application Number:
PCT/CN2016/100692
Publication Date:
February 09, 2017
Filing Date:
September 28, 2016
Export Citation:
Assignee:
SUZHOU AMTF ROBOTS CO LTD (CN)
International Classes:
B25J13/00; B25J9/12
Foreign References:
| CN104162890A | 2014-11-26 | |||
| CN204471402U | 2015-07-15 | |||
| CN105058411A | 2015-11-18 | |||
| US20130278196A1 | 2013-10-24 | |||
| CN103025492A | 2013-04-03 | |||
| JPH1011121A | 1998-01-16 |
Attorney, Agent or Firm:
BEIJING KEYI INTELLECTUAL PROPERTY FIRM (CN)
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