1975-07-15
1978-03-14
Hoffman, Drayton E.
3 121, 3 11, B25J 300
Patent
active
040786706
ABSTRACT:
The movement of rotation of each element of the manipulator arm about the shoulder, elbow and wrist pins is controlled by a motor and a cable consisting of two oppositely-acting lengths by means of a pulley-block which carries at least two lengths, two pairs of pulley-blocks being located within a barrel unit. The length of cable which emerges from each pulley-block is passed over a return pulley carried by the shoulder pin and guided within a stationary manipulator body in a direction parallel to the axis of the barrel unit, each emergent length of cable being actuated by one of the motors mounted on the manipulator body.
REFERENCES:
patent: 1619559 (1927-03-01), Berry et al.
patent: 1693074 (1928-11-01), Falco
patent: 1926948 (1933-09-01), Iffland
patent: 2992746 (1961-07-01), Olson et al.
patent: 3212651 (1965-10-01), Specht et al.
patent: 3335620 (1967-08-01), Vertut
patent: 3703968 (1972-11-01), Uhrich
Francois Daniel
Germond Jean-Claude
Marchal Paul
Vertut Jean
Commissariat a l''Energie Atomique
Hoffman Drayton E.
Underwood Donald W.
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