Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1994-08-17
1996-03-12
Herrmann, Allan D.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
7449004, 901 15, 901 21, 901 23, 901 29, B25J 1800, B25J 1702
Patent
active
054976740
ABSTRACT:
A base end portion of a lower arm is mounted on a revolutionarily drivable revolution portion at a specific offset from the revolutionary axis thereof, and an upper arm is mounted in the lower arm, with the lower and upper arms being rotationally drivable within a plane parallel to the revolutionary axis. In a motor casing, three motors for driving three dimensional motions of a wrist are disposed in a vertical direction with their axes being in parallel. Since the upper arm is offset from the revolutionary axis, both right-handed operation and left-handed operation can be easily selected, and the work range of this robot can be increased while its installation space can be reduced. The lower arm has a motor for driving the upper arm at the lower part thereof apart from a gearbox for the upper arm. Power of the motor for driving the upper arm is transmitted to the gearbox through a power transmission member. Such structure enables to reduce thickness of the lower arm.
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Herrmann Allan D.
Kawasaki Jukogyo Kabushiki Kaisha
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