Material or article handling – Article manipulator moves analogous with human hand – finger,... – Electric or fluid motor drive for manipulator
Patent
1990-10-31
1993-03-16
Huppert, Michael S.
Material or article handling
Article manipulator moves analogous with human hand, finger,...
Electric or fluid motor drive for manipulator
414 7, B25J 300
Patent
active
051939630
ABSTRACT:
A universal input device for interfacing a human operator with a slave machine such as a robot or the like includes a plurality of serially connected mechanical links extending from a base. A handgrip is connected to the mechanical links distal from the base such that a human operator may grasp the handgrip and control the position thereof relative to the base through the mechanical links. A plurality of rotary joints is arranged to connect the mechanical links together to provide at least three translational degrees of freedom and at least three rotational degrees of freedom of motion of the handgrip relative to the base. A cable and pulley assembly for each joint is connected to a corresponding motor for transmitting forces from the slave machine to the handgrip to provide kinesthetic feedback to the operator and for producing control signals that may be transmitted from the handgrip to the slave machine. The device gives excellent kinesthetic feedback, high-fidelity force/torque feedback, a kinematically simple structure, mechanically decoupled motion in all six degrees of freedom, and zero backlash. The device also has a much larger work envelope, greater stiffness and responsiveness, smaller stowage volume, and better overlap of the human operator's range of motion than previous designs.
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Bejczy et al., "Controlling Remote Manipulators Through Kinesthetic Coupling," Computers in Mechanical Enginnering, Jul. 1983, pp. 48-60.
McAffee Douglas A.
Snow Edward R.
Townsend William T.
Huppert Michael S.
Jones Thomas H.
Kusmiss John H.
Miller Guy M.
The United States of America as represented by the Administrator
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