Machine element or mechanism – Alternating-motion driven device with means during operation...
Patent
1982-03-26
1985-07-09
Herrmann, Allan D.
Machine element or mechanism
Alternating-motion driven device with means during operation...
74 54, 74469, 414732, 414733, 901 21, B25J 1100, F16H 2516, F16H 3508
Patent
active
045274460
ABSTRACT:
A cam-actuated robotic manipulator system comprising an articulated robot arm adapted for multiple degrees of angular motion, and an actuator system which includes series-connected four-bar linkages and a cam input mechanism for controlling each degree of motion of the robot arm. The several series-connected four-bar linkages for each degree of motion share at least some common axes of rotation, one of which is position-variable for adjusting output position of the corresponding manipulator arm segment for a given cam input. The input mechanism to each four-bar linkage arrangement comprises conjugate cams and conjugate cam followers having an overload mechanism connected therebetween to detect obstruction to movement of the corresponding arm segment for disengaging the cam drive mechanism, and thereby preventing damage to the robot manipulator arm and actuator.
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Herrmann Allan D.
U.S. Automation Company
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