Articulated master slave manipulator

Details Articulated master slave manipulator Articulated master slave manipulator

1975-07-16

1976-08-24

Ward, Jr., Robert S.

Handling: hand and hoist-line implements

Article carrier gripped and carried by hand

Convertible to, or useable as, different device or different...

74 8922, 74 96, 294 86A, B25J 300

Patent

active

039762068

ABSTRACT:
An articulated master slave manipulator has a lower arm pivoted at a main idler pulley at one end of an upper arm, and a counter-balance mass pivoted at an idler pulley at the other end of the upper arm. A coupling system maintains the angle between the axis of the upper arm and the axes defined by the centers of gravity and the respective main pulleys of the counter-balance mass and the lower arm equal. A flexible, non-stretchable cable or so called tape extends from an actuator pulley on the counter-balance mass, around an auxiliary idler pulley on the counter-balance mass, thence around the main idler pulley and an auxiliary pulley on the lower arm to an output pulley on the lower arm. The actuating pulley, auxiliary pulleys, and output pulley are mounted to have a constant distance between their axes and the axes of the respective main idler pulleys.

REFERENCES:
patent: 2771199 (1956-11-01), Jelatis
patent: 2774488 (1956-12-01), Goertz et al.
patent: 3314552 (1967-04-01), Vertut
patent: 3572807 (1971-03-01), Haaker et al.
patent: 3664517 (1972-05-01), Germond et al.
patent: 3790002 (1974-02-01), Germond et al.

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