Manipulator head assembly

Details Manipulator head assembly Manipulator head assembly

1985-06-07

1987-04-14

Siemens, Terrance L.

Material or article handling

Vertically swinging load support

Grab

901 29, 901 26, B25J 1702

Patent

active

046574727

ABSTRACT:
A head assembly for a manipulator has, as is known, an inner part, an intermediate part, and an outer part having a holder adapted to carry a tool. An inner pivot and drive unit rotates the inner part on the manipulator about an inner axis defined thereby. An intermediate pivot and drive unit rotates the intermediate part on the inner part about an intermediate axis defined by the inner part and intersecting the inner axis at an intermediate angle not equal to 90.degree. and open away from the inner part. An outer pivot and drive unit rotates the outer part on the intermediate part about an outer axis defined by the intermediate part and intersecting the intermediate axis at a point and at an outer angle not equal to 180.degree. and open away from the intermediate part. The outer drive and pivot unit includes a stepdown transmission in the intermediate part and normally also another such stepdown transmission in the inner part.

REFERENCES:
patent: 3922930 (1975-12-01), Fletcher et al.
patent: 4030617 (1977-06-01), Richter
patent: 4402234 (1983-09-01), Malarz et al.
Literature "Harmonic Drive", 2 pages.

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