Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1990-10-11
1993-01-19
Ip, Paul
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
31856812, 31856821, 31856922, 901 29, 901 15, 310 49R, B25J 914
Patent
active
051809559
ABSTRACT:
An apparatus for positioning an end-effector comprising a multi-bar linkage drive mechanism. The drive mechanism has a base structure of a movable arm structure. The moveable arm structure has four arms arranged in a general parallelogram profile with a center of gravity at a main shaft located at a connection of two of the arms. Two of the arms have energizeable electromagnetic coils and the base structure has permanent magnets for moving the arms. Analog and/or digital position sensors can be used. Dynamic balancing can be provided to produce reactionless ultra-high speed X-Y motion. A torque cancellation motor for cancellation of Z-axis moments produced by these coils can be provided. A Z-direction actuator can also be provided.
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Karidis John P.
McVicker Gerard
Pawletko Joseph P.
International Business Machines - Corporation
Ip Paul
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