US 11,931,892 B2
Three degree-of-freedom robotic systems for automatic and/or collaborative planar fastening operations
Qiao Sun, Shanghai (CN); Xianbao Chen, Shanghai (CN); Jing Sun, Shanghai (CN); Feng Gao, Shanghai (CN); Dalong Gao, Rochester, MI (US); and Ningjian Huang, Bingham Farms, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US); and Shanghai JiaoTong University, Shanghai (CN)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Dec. 17, 2021, as Appl. No. 17/554,161.
Claims priority of application No. 202111363396.2 (CN), filed on Nov. 17, 2021.
Prior Publication US 2023/0150118 A1, May 18, 2023
Int. Cl. B25J 13/08 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01)
CPC B25J 9/0081 (2013.01) [B25J 9/0009 (2013.01); B25J 9/0045 (2013.01); B25J 9/1633 (2013.01); B25J 13/085 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robotic system comprising:
a support structure;
a movable platform;
a motor mount assembly comprising a plurality of rotary motors, wherein the plurality of rotary motors comprise a first rotary motor and a second rotary motor;
a first plurality of parallel chains connected to the movable platform, the first rotary motor, and the motor mount assembly;
a second plurality of parallel chains connected to the movable platform, the second rotary motor, and the motor mount assembly;
a serial translation assembly connected to the supporting structure and the motor mount assembly and comprising a linear actuator and a third rotary motor;
a sensor connected to the movable platform and configured to detect force applied by a human operator on the movable platform and generate a signal indicative of the force applied; and
a control module configured to control the plurality of rotary motors and the third rotary motor based on the signal to assist the human operator in moving the movable platform relative to the supporting structure.