Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1991-10-08
1993-04-13
Herrmann, Allan D.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
901 23, 901 26, 901 29, G05G 1100, B25J 1800
Patent
active
052012395
ABSTRACT:
An industrial robot includes a a hollow arm extending from a robot base, a wrist base mounted on a distal end of the hollow arm for rotation about a longitudinal axis of the hollow arm, a wrist mounted on a distal end of the wrist base for swinging movement about an axis transverse to the longitudinal axis, and a wrist socket mounted on a distal end of the wrist for rotation about an axis parallel to the longitudinal axis. The industrial robot also includes first, second, and third actuators such as motors. The first actuator is fixedly mounted on a rear end of the arm remotely from the wrist base and produces rotational drive forces that are transmitted to rotate the wrist base. The second actuator is fixedly mounted on the rear end of the arm and produces rotational drive forces that are transmitted to swing the wrist. The third actuator is fixedly mounted on the wrist and produces rotational drive forces that are transmitted to rotate the wrist socket.
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patent: 4527945 (1985-07-01), Passemard et al.
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patent: 4842474 (1989-06-01), Torii et al.
patent: 4846015 (1989-07-01), Keppler et al.
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Bundo Isao
Miwa Hiroshi
Herrmann Allan D.
Honda Giken Kogyo Kabushiki Kaisha
Laub David W.
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