Motion system for a robot and robot
A motion system includes a linear actuation system having a plurality of actuators of a first-type and at least a first kinematic link connected by an eighth joint to the plurality of first-type actuators; a first subsystem comprising a linear actuation system connected to a fourth kinematic link by a first revolute joint; a second subsystem comprising the first subsystem connected to a ground plate, the linear actuation system connected to the ground plate by a third joint and to a fifth kinematic link by a fourth joint. The second kinematic link is connected to the first subsystem; a wrist element is connectable to at least one tool element, wherein the wrist element is connected to the second subsystem, wherein the wrist element and the second subsystem generate a coordinated movement such that the tool element is movable relative to the ground plate.
1 . A motion system, comprising:
a plurality of linear actuation systems, wherein each of the plurality of linear actuation systems comprises a first-type actuator and a first kinematic link, wherein the first kinematic link is connected to the first-type actuator by an eighth joint;
a first subsystem comprising at least two of the plurality of linear actuation systems, wherein each of the at least two of the plurality of linear actuation systems is connected to a fourth kinematic link by a first revolute joint, and the at least two of the plurality of linear actuation systems are interconnected by a second revolute joint;
a second subsystem comprising the first subsystem connected to a ground plate and another one of the plurality of linear actuation systems, wherein the another one of the plurality of linear actuation systems is connected to the ground plate by a third joint and is connected to a fifth kinematic link by a fourth joint, and wherein the fifth kinematic link is connected to the first subsystem;
a wrist element that is configured to be connectable to at least one tool element, wherein the wrist element is connected to the second subsystem, wherein the wrist element and the second subsystem are configured to generate a coordinated movement in such a way that the at least one tool element is movable relative to the ground plate.
2 . The motion system according to claim 1 , wherein the wrist element comprises a first wrist element kinematic link that is connected to a second wrist element kinematic link by a sixth revolute joint, a third wrist element kinematic link connected to the first wrist element kinematic link by a seventh revolute joint, wherein the axes of the sixth revolute joint and the seventh revolute joint intersect at a center of the wrist element.
3 . The motion system according to claim 2 , wherein the sixth revolute joint and the seventh revolute joint are driven by at least one second-type actuator.
4 . The motion system according to claim 3 , wherein the at least one second-type actuator is configured as a Bowden-based actuator.
5 . The motion system according to claim 4 , further comprising at least one controller unit configured to communicate with the at least one second-type actuator to generate a second-type of movement, wherein the second-type of movement comprises at least one of a change of orientation, a change of position, or a change of velocity of the third wrist element kinematic link measured with respect to a position of a second joint and orientation of the first subsystem.
6 . The motion system according to claim 5 , wherein a coordinated drive of the second subsystem and the wrist element is composed of a first-type of movement and the second-type of movement, and the coordinated drive is configured to drive the controllable motion system towards a storing configuration, in which a plurality of the first-type actuators, the wrist element and the at least one tool element are aligned and fitted in a box with a size along a normal direction of a base ground.
7 . The motion system according to claim 5 , wherein a coordinated drive of the second subsystem and the wrist element is composed of a first-type of movement and the second-type of movement, wherein the coordinated drive is configured to move the at least one tool element from a storing configuration to a distance longer than a size along a normal direction of a base ground.
8 . The motion system according to claim 1 , further comprising at least one controller unit configured to communicate with the plurality of first-type actuators and is configured to independently drive each of the first kinematic link elements to change a length, and/or speed of leg elements generating a first-type of movement, wherein the first-type of movement comprises at least one of a change of x-y-z position and/or a change of orientation of the first subsystem, measured with respect to a position of a third revolute joint.