Joint mechanism for manipulators

Details Joint mechanism for manipulators Joint mechanism for manipulators

1986-02-21

1988-01-05

Spar, Robert J.

Material or article handling

Article manipulator moves analogous with human hand, finger,...

Electric or fluid motor drive for manipulator

414 1, 414719, 901 26, 901 15, 901 19, 901 48, B25J 1100

Patent

active

047173033

ABSTRACT:
A joint mechanism for a manipulator movable in the manner similar to human shoulder and elbow joints is disclosed. The joint mechanism comprises three actuators mounted on a shoulder frame, a first gear assembly for moving the shoulder frame back and forth when the first actuator is driven, a second gear assembly for moving the upper and lower arms clockwise or counterclockwise when the second actuator is driven, and a third gear assembly for moving only the lower arm back and forth or up and down when the third actuator is driven. Further, a balance weight and its gear assembly are attached and driven by the third actuator to keep weight balance of the moved lower arm. A fourth actuator and its gear assembly are disclosed for further moving the shoulder frame right and left.

REFERENCES:
patent: 2061256 (1936-11-01), Romano
patent: 2858947 (1958-11-01), Chapman
patent: 3272347 (1966-09-01), Lemelson
patent: 3817403 (1974-06-01), Glachet et al.
patent: 3922930 (1975-12-01), Fletcher et al.
patent: 4062455 (1977-12-01), Flatau
patent: 4507043 (1985-03-01), Flatau

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