Motor driven articulated arm with cable capstan including a brake |
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| 申请号 | US15193948 | 申请日 | 2016-06-27 | 公开(公告)号 | US10118289B2 | 公开(公告)日 | 2018-11-06 |
| 申请人 | HAPTION; | 发明人 | Francois Louveau; | ||||
| 摘要 | A motor-driven articulated haptic interface arm includes a frame; an arm linked to the frame and rotationally mobile about an axis; and a motor including a rotor, which delivers at least one maximum resistant torque about the axis opposing at least part of forces applied to the arm by its environment. A main transmission transmits to the arm the resistant torque about the axis and includes a capstan-type cable reducer. The arm includes elements for evaluating the resistant torque transmitted to the arm by the motor; braking rotation of the arm about the axis; activating the brake when the maximum resistant torque is reached by the motor; evaluating, after activation of the brake, the forces transmitted to the arm by the environment, including determining a deformation of the transmission under the forces; and deactivating the brake when the deformation goes below a predetermined threshold value. | ||||||
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| 说明书全文 | |||||||
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