Material or article handling – Vertically swinging load support – Grab
Patent
1987-04-21
1989-05-09
Spar, Robert J.
Material or article handling
Vertically swinging load support
Grab
74479, 74665C, 901 15, 901 26, 901 28, 901 29, B25J 1700, B25J 1702
Patent
active
048284530
ABSTRACT:
A multimorphic kinematic manipulator arm is provided with seven degrees of freedom and modular kinematic redundancy through identical pitch/yaw, shoulder, elbow and wrist joints and a wrist roll device at the wrist joint, which further provides to the manipulator arm an obstacle avoidance capability. The modular pitch/yaw joints are traction drive devices which provide backlash free operation with smooth torque transmission and enhanced rigidity. A dual input drive arrangement is provided for each joint resulting in a reduction of the load required to be assumed by each drive and providing selective pitch and yaw motions by control of the relative rotational directions of the input drive.
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Holt W. Eugene
Martin H. Lee
Williams Daniel M.
Hamel Stephen D.
Moser William R.
Spar Robert J.
The United States of America as represented by the United States
Underwood Donald W.
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