Material or article handling – Vertically swinging load support – Grab
Patent
1988-03-09
1990-05-01
Werner, Frank E.
Material or article handling
Vertically swinging load support
Grab
4147442, 74479, 901 21, 901 24, B25I 1800
Patent
active
049213938
ABSTRACT:
A manipulator is disclosed which includes first and second interconnected limb sections, the second section of which is elongated and flexible in at least one direction normal to the longitudinal axis. The first limb section is connected to a base, and the second limb section is connected to an end effector. Relative to a reference frame with origin at the first limb section, the stiffness matrix of the second limb section is variable, and is under motor control. In one embodiment, the second limb section is inflexible in a direction orthogonal to the one direction and the longitudinal axis, and is supported by the first limb section for rotation about the longitudinal axis. In another embodiment, the second limb section is flexible in all directions normal to the longitudinal axis, and a plurality of adjustable-tension stays attached to the second limb section adjacent opposite ends thereof are used to control the stiffness matrix thereof. Methods of damping vibration of the flexible beam are shown.
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Andeen Gerry B.
Auslander David M.
Beckman Victor R.
SRI - International
The Regents of the University of California
Underwood Donald W.
Werner Frank E.
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