Controller arm for a remotely related slave arm

Details Controller arm for a remotely related slave arm Controller arm for a remotely related slave arm

1977-08-19

1979-07-10

Husar, Francis S.

Material or article handling

Article manipulator moves analogous with human hand, finger,...

Electric or fluid motor drive for manipulator

B25J 304

Patent

active

041605080

ABSTRACT:
A segmented controller arm configured and dimensioned to form a miniature kinematic replica of a remotely related slave arm. The arm includes a plurality of joints for affording segments of the arm simultaneous angular displacement about a plurality of pairs of intersecting axes, a plurality of position sensing devices for providing electrical signals indicative of angular displacement imparted to corresponding segments of the controller shaft about the axes, and a control signal circuit for generating control signals to be transmitted to the slave arm. The arm is characterized by a plurality of yokes, each being supported for angular displacement about a pair of orthogonally related axes and counterbalanced against gravitation by a cantilevered mass affixed thereto whereby the controller arm may be released without introducing unwanted motion in the slave arm resulting from gravitation of segments of the master arm.

REFERENCES:
patent: 3171549 (1965-03-01), Orloff
patent: 3923166 (1975-12-01), Fletcher
patent: 4046262 (1977-09-01), Vykukal

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