Manipulator with rod mechanism

Material or article handling – Horizontally swinging load support – Swinging about pivot

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Details

4147446, 901 15, 901 23, B25J 1800

Patent

active

048742864

ABSTRACT:
The invention relates to a manipulator comprising an end effector (27) displaceable by means of a rod mechanism comprising four arms (11,13,15,17). By means of simultaneously activated individual drives (29,35) for two of the arms (11,15) which are of equal length, which individual drives are integrated in a differential drive, a displacement of the rod mechanism is obtained in a plane at right angles to a main axis (3) about which the two arms (11,15) are rotatable. At the same and oppositely directed angular velocities of the arms (11,15) about the main axis (3), a radial (R) positioning of the end effector (27) takes place, while at the same angular velocities of the arms (11,15) in the same direction an angular (.theta.) displacement of the end effector (27) about the main axis is obtained. The manipulator is particularly suitable for use as assembling robot.

REFERENCES:
patent: 4218173 (1980-08-01), Coindet et al.
patent: 4290239 (1981-09-01), Zimmer
patent: 4341502 (1982-07-01), Makino
patent: 4518298 (1985-05-01), Yasukawa
patent: 4596509 (1986-06-01), Ise et al.
patent: 4648785 (1987-03-01), Nakagawa et al.
patent: 4682932 (1987-07-01), Yoshino
patent: 4712971 (1987-12-01), Fyler
Industrieroboter-Mechanische Konstruktion, Spring 1983, Konstruktion, pp. 221-229, Kuka Brochure on Industrieroboter, IR 200/500.

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