Servo driven compliant mechanism

Abstract

A servo driven compliant mechanism is provided. The servo driven compliant mechanism includes a holder, a first pivot, a grinding tool, a posture sensor, a displacement sensor, an inner frame, and a first servomotor. The first pivot is perpendicular to an axial direction of the grinding tool. The posture sensor is used for sensing a posture of the grinding tool and sending a posture signal to be transformed into a torque compensation value for an effect of gravity. The displacement sensor is used for sensing a displacement of the grinding tool along the first pivot. The grinding tool is disposed in the inner frame, and the first pivot is movably disposed in the inner frame. The first servomotor is disposed in the inner frame and drives the grinding tool to rotate along the first pivot according to the torque compensation value and the displacement.

What is claimed is: 
     
         1 . A servo driven compliant mechanism, comprising:
 a holder;   a first pivot fixedly connected to the holder;   a grinding tool fixed in the holder, wherein the first pivot is perpendicular to an axial direction of the grinding tool;   a posture sensor used for sensing a posture of the grinding tool and sending a posture signal to be transformed into a torque compensation value for an effect of gravity;   a displacement sensor for sensing a displacement of the grinding tool along the first pivot;   an inner frame, wherein the grinding tool is disposed in the inner frame, and the first pivot is movably disposed in the inner frame; and   a first servomotor disposed in the inner frame, wherein the first servomotor drives the grinding tool to rotate along the first pivot according to the torque compensation value and the displacement, so that a pressing force output by the grinding tool is not affected by gravity in any posture of the grinding tool.   
     
     
         2 . The servo driven compliant mechanism according to  claim 1 , wherein the grinding tool further includes an indicator, and the indicator outputs an indication signal according to a comparison value obtained by comparing a displacement signal that corresponds to the displacement of the grinding tool along the first pivot and a predetermined displacement. 
     
     
         3 . The servo driven compliant mechanism according to  claim 2 , further comprising:
 a display device for receiving the indication signal and for displaying a current status of the grinding tool according to the indication signal.   
     
     
         4 . The servo driven compliant mechanism according to  claim 1 , wherein the first servomotor and the first pivot have a first gear assembly arranged therebetween, and the first gear assembly transmits force generated by the first servomotor to the first pivot. 
     
     
         5 . The servo driven compliant mechanism according to  claim 4 , wherein the first gear assembly includes a first driven gear that is connected to the first pivot, and a first driving gear that is connected to the first servomotor;
 wherein the first driven gear is meshingly engaged to the first driving gear.   
     
     
         6 . The servo driven compliant mechanism according to  claim 1 , wherein the first servomotor includes a first driving member, and the first driving member is connected to the grinding tool. 
     
     
         7 . The servo driven compliant mechanism according to  claim 1 , further comprising:
 an outer frame; and   a second servomotor;   wherein the inner frame is disposed in the outer frame, the inner frame includes a second pivot, and the second pivot is perpendicular to the first pivot; wherein the second pivot of the inner frame is rotatably disposed in the outer frame; wherein the second servomotor is disposed in the outer frame, and the second servomotor drives the grinding tool to rotate along the second pivot according to the torque compensation value and the displacement, so that the pressing force output by the grinding tool is not affected by gravity in any posture of the grinding tool.   
     
     
         8 . The servo driven compliant mechanism according to  claim 7 , wherein the second servomotor and the second pivot have a second gear assembly arranged therebetween, and the second gear assembly transmits force generated by the second servomotor to the second pivot. 
     
     
         9 . The servo driven compliant mechanism according to  claim 8 , wherein the second gear assembly includes a second driven gear that is connected to the second pivot, and a second driving gear that is connected to the second servomotor; wherein the second driven gear is meshingly engaged to the second driving gear. 
     
     
         10 . The servo driven compliant mechanism according to  claim 7 , wherein the second servomotor includes a second driving member, and the second driving member is connected to the inner frame.