Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1994-09-08
1996-06-25
Bonck, Rodney H.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
74 4903, 74 4904, 901 15, 3185681, G05G 1100
Patent
active
055289550
ABSTRACT:
A substantially balanced, five-axis, direct drive mini-robot provides repeatable micro-manipulation to micron precision. Dynamic forces of each link are nearly decoupled from the dynamic forces of remaining links. The robot is generally formed as a shoulder, arm and wrist assembly. At the shoulder a linear actuator drives the robot in a linear horizontal movement along a first axis (e.g., z axis). Two additional actuators at the shoulder provide revolute motion to rotate the arm in an xz plane (e.g., for lateral motion) and a yz plane (e.g., for vertical motion), respectively. A fourth actuator provides rotational motion to move an end-effector (manipulator) at the wrist through a yaw motion. A fifth actuator, positioned at the shoulder and linked to the wrist, provides rotational motion to move the end-effector through a pitch motion.
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Marbot and Hannaford; "Mini Direct Drive Robot Arm for Biomedical Application," IEEE 1991 ICAR Fifth International Conference on Advanced Robotics, Jun. 19-22, 1991 Italy.
Max and Wallace, "Feedback Control of Miniature Direct Drive Devices," Part of Tutorial M-3, Building and Interfacing Miniature Direct Drive Actuators; May 9, 1994.
Wallaces, Richard S.; "Miniature direct Drive Rotary Actuators II: . . . ," Part of Tutorial M-3, Building and Interfacing Miniature Direct Drive Actuators; May 9, 1994.
Marbot, Pierre-Henry; "Mini Direct Drive Robot for Biomedical Applications;" University of Washington Thesis; Oct., 1991.
Hannaford Blake
Marbot Pierre-Henry M. J.
Moreyra Manuel R.
Bonck Rodney H.
Kim Chong H.
Koda Steven P.
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