Material or article handling – Article manipulator moves analogous with human hand – finger,... – Motion of hand – finger – or arm member multiplied or reduced...
Patent
1988-08-24
1989-11-28
Spar, Robert J.
Material or article handling
Article manipulator moves analogous with human hand, finger,...
Motion of hand, finger, or arm member multiplied or reduced...
414 5, 414 4, 414730, 901 8, 901 9, B25J 908
Patent
active
048834009
ABSTRACT:
A master controller for a mechanically dissimilar bilateral slave servo-manipulator is disclosed. The master controller includes a plurality of drive trains comprising a plurality of sheave arrangements and cables for controlling upper and lower degrees of master movement. The cables and sheaves of the master controller are arranged to effect kinematic duplication of the slave servo-manipulator, despite mechanical differences therebetween. A method for kinematically matching a master controller to a slave servo-manipulator is also disclosed.
REFERENCES:
patent: 2846084 (1958-08-01), Goertz et al.
patent: 3893573 (1975-07-01), Fletcher et al.
patent: 4160508 (1979-07-01), Salisbury, Jr.
patent: 4608526 (1986-08-01), Martin et al.
patent: 4780047 (1988-10-01), Holt et al.
D. P. Kuban et al., "Dual Arm Master Controller Concept," Amer. Nuclear Society Conference on Robotics & Remote Handling in Hostile Environments, Apr. 23-26, 1984.
Kuban Daniel P.
Perkins Gerald S.
Eller Jr. James T.
Martin Marietta Energy Systems Inc.
Spar Robert J.
Spicer James M.
Winchell Bruce M.
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