Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1990-08-28
1992-04-28
Herrmann, Allan D.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
74522, 74586, 901 15, 414917, 4147445, B25J 1100
Patent
active
051077191
ABSTRACT:
A closed loop multi-link robotic apparatus is actuated to produce two-dimensional motion with respect to a base member. The base member is coupled to an actuator which, in a practical embodiment of the invention, moves the base member along a part which is rectilinearly orthogonal with the respect to the two-dimensional motion. A correlator, which may be an electronic system, controls the actuator to produce a predetermined composite three-dimensional motion which can be adapted to performed industrial automation tasks. Adjustability of the system is achieved by providing a mechanism for adjusting the length of one or more of the links. Additionally, other elements may be varied, such as an angular relationship between various ones of the rigid links or the angular relationship between an end-effector coupler and the multi-link system. In some embodiments, the changes in link length may be correlated to the position of the actuator.
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Herrmann Allan D.
Krolikowski Julie
The University of Michigan
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