Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1991-09-25
1993-06-29
Herrmann, Allan D.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
74103, 74640, 414733, 414917, 475 5, 901 21, 901 23, B25J 1800, B25J 1702, B25J 1700
Patent
active
052224090
ABSTRACT:
An articulated robot arm or the like comprising a base, an upper arm which is pivotally secured to the base at a shoulder joint, a lower arm pivotally secured to the upper arm at an elbow joint, and optionally a "hand" or tool support pivotally secured to the lower arm at a wrist joint. A parallelogram linkage controls the relative position of the upper arm, lower arm, and base. The linkage has first, second, third, and fourth links joined by pivots. The first link is a crank which is pivotally connected to the base by a first pivot which is coaxial with the shoulder pivot. The second link of the parallelogram linkage is parallel to the crank link, and is fixed with respect to the lower arm. The third and fourth links join the first and second links to complete the parallelogram. At least one of the third and fourth links is fixed to the upper arm. The crank and the upper arm are rotated about the first pivot and the shoulder pivot in the same direction at the same angular velocity to raise and lower the entire arm as a unit, and are rotated in opposite directions to fold and unfold the arm. The rates of the respective rotations and the lengths of the upper and lower arms can be coordinated so the outboard end or wrist joint of the lower arm translates in a straight line relative to the base when the arm is folded and unfolded. Apparatus is described for flexing the wrist joint of the arm to maintain the orientation of the hand in fixed relation to the base during the other movements of the arms.
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GMFanuc Robotics Corp.--Spec sheet for S-420 Drive (1 page).
GMFanuc Robotics Corp.--Product Line In Brief, cover and pp. 8-27.
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