US 11,813,743 B2
Six degree-of-freedom and three degree-of-freedom robotic systems for automatic and/or collaborative fastening operations
Qiao Sun, Shanghai (CN); Xianbao Chen, Shanghai (CN); Jing Sun, Shanghai (CN); Dalong Gao, Rochester, MI (US); Feng Gao, Shanghai (CN); 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. 17/554,549.
Claims priority of application No. 202111363486.1 (CN), filed on Nov. 17, 2021.
Prior Publication US 2023/0150117 A1, May 18, 2023
Int. Cl. B25J 9/00 (2006.01); B25J 9/10 (2006.01); B25J 17/02 (2006.01); B25J 13/08 (2006.01); B25J 11/00 (2006.01)
CPC B25J 9/0072 (2013.01) [B25J 9/106 (2013.01); B25J 11/005 (2013.01); B25J 13/085 (2013.01); B25J 17/0216 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robotic system comprising:
a support structure;
a movable platform;
a center serial chain connecting directly or indirectly a center of the movable platform to the support structure and comprising a first plurality of joints connected directly or indirectly to a linear sliding shaft;
a plurality of outer serial chains disposed radially outward of the center serial chain, wherein each of the plurality of outer serial chains comprises a second plurality of joints connecting a bar directly or indirectly to the movable platform and the supporting structure;
a plurality of motors connected to the plurality of outer serial chains;
a sensor connected to the movable platform and configured to detect at least one of force or torque applied by a human operator on the movable platforms and generate a signal indicative of the at least one of force or torque applied; and
a control module configured to control the plurality of motors based on the signal to assist the human operator in at least one of moving or rotating the movable platform.