Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1985-12-20
1987-08-11
Paperner, L. J.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
414 7, 414680, 414744R, 901 15, 901 21, 901 28, G05G 1100, B25J 1100
Patent
active
046853499
ABSTRACT:
A flexibly foldable arm includes a series of arm sections each constituted by a plural number of joint members pivotally and serially connected to one another by connector shafts for rotation about two perpendicularly intersecting axes; a pair of pulleys mounted the connector shafts at each end of the joint members; and a pair of arm operating wires having base ends thereof wound in opposite directions on winding shafts of drive motors in such a manner as to alternately reel up or off the wires threaded around paired pulleys in each arm section to flex the same into a curve folded state as a whole by forward and reverse rotations of the motors. By driving the independently flexible arm sections which are connected in series, the arm can be flexed into an arbitrary shape irrespective of existence of an object to be gripped and can be folded to grip an object if the latter is in the way of the flexing movement of the arm.
REFERENCES:
patent: 2765930 (1956-10-01), Greer et al.
patent: 3266059 (1966-08-01), Stelle
patent: 3497083 (1970-02-01), Anderson
patent: 4566843 (1986-01-01), Iwatsuka et al.
patent: 4600355 (1986-07-01), Johnson
Hirose et al., "The Development of the Soft Gripper for the Versatile Robot Hand", 7th Intl. Symp. on Ind. Robots, Tokyo Inst. of Technology, 6/1983, pp. 353-360.
Nishihara Kazue
Wada Mitsuo
Agency of Industrial Science and Technology
Paperner L. J.
Smith P. McCoy
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