Dual robotic arm end effectors having independent yaw motion

Details Dual robotic arm end effectors having independent yaw motion Dual robotic arm end effectors having independent yaw motion

1998-08-04

2000-09-19

Sircus, Brian

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

31856821, 700245, 901 27, 901 32, 414743, 414937, B25J 916

Patent

active

061217433

ABSTRACT:
An improvement is set forth in a robotic arm structure which includes at least two links. .theta. motion is provided about a primary axis at the proximal end portion of the proximalmost of the links. R motion proceeds radially from the primary axis whereby the distal end portion of the distalmost of the links can be moved in a radially extending straight line. At least two independent end effectors are pivotally mounted for rotation relative to the distal end portion of the distalmost link about an end effector axis which is parallel to the primary axis. The structure is improved by adding independent yaw motors for rotating the end effectors independently.

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