Machine element or mechanism – Control lever and linkage systems
Patent
1983-09-15
1986-07-08
Tapolcai, William E.
Machine element or mechanism
Control lever and linkage systems
248648, 248665, 901 48, G05G 100
Patent
active
045986010
ABSTRACT:
A means for counterbalancing a mass (9) in mechanisms such as a robot arm (1), wherein the robot arm (1) has a fixed support point (2) and is attached to one end of a spring (3) for counterbalancing arm loading. The other, remote point of attachment (6) for the spring (3) is movable in relation to the fixed support point (2) for the arm (1), so that the distance between said remote point of attachment (6) for the spring (3) and the fixed support point (2) for the robot arm (1) can be varied for altering the geometry of the system, according to the weight of the mass, the tool (9), attached to the end of the robot arm (1), whereby the robot arm (1) can be counterbalanced in all positions and can be adjusted to different masses without reducing the dynamic properties of the robot arm (1).
REFERENCES:
patent: 1090697 (1914-03-01), Eddelman
patent: 1155846 (1915-10-01), Strong
patent: 2547532 (1951-04-01), Mendelsohn
patent: 2605494 (1952-08-01), Lyons, Jr. et al.
patent: 2726669 (1955-12-01), Reilley
patent: 2758479 (1956-08-01), Landwier
patent: 3897636 (1975-07-01), Nystrom
patent: 4165121 (1979-08-01), Hori et al.
patent: 4277044 (1981-07-01), Hamilton
Sjoquist Paul L.
Tapolcai William E.
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