The present invention relates to motion system (100) comprising:- a linear actuation system (201, 202, 203) comprising a plurality of actuators of a first-type (50, 52, 54) and at least a first kinematic link (70, 72, 74) connected by an eighth joint (305, 306, 307) to the plurality of first-type actuators (50, 52, 54);- a first subsystem (300) comprising at least one linear actuation system (201, 203) connected to at least a fourth kinematic link (301) by at least a first revolute joint (303, 304) and interconnected between them by a second revolute joint (308);- a second subsystem (400) comprising the first subsystem (300) connected to a ground plate (60), wherein the linear actuation system (202) connected to the ground plate (60) by a third joint (401) and to a fifth kinematic link (402) by a fourth joint (403), and wherein the second kinematic link (402) is connected to the first subsystem (300);- a wrist element (80) connectable to at least one tool element (90), wherein the wrist element (80) is connected to the second subsystem (400), wherein the wrist element (80) and the second subsystem (400) are configured to generate a coordinated movement in such a way that the at least one tool element (90) is movable relative to the ground plate (60).
MOTION SYSTEM FOR A ROBOT AND ROBOT
BEWEGUNGSSYSTEM FÜR EINEN ROBOTER UND ROBOTER
SYSTÈME DE MOUVEMENT POUR UN ROBOT ET ROBOT
2025-01-29
Patent
Electronic Resource
English
Underwater robot motion control system and underwater robot
European Patent Office | 2020
|