Multiple forearm robotic elbow configuration

Details Multiple forearm robotic elbow configuration Multiple forearm robotic elbow configuration

1989-06-08

1990-09-11

Herrmann, Allan D.

Machine element or mechanism

Control lever and linkage systems

Multiple controlling elements for single controlled element

191 12R, 242 54R, 248 51, 414918, 439 11, 901 9, 901 23, 901 24, 901 28, 901 50, B25J 1700, B25J 1800, B25J 912

Patent

active

049552503

ABSTRACT:
A dual forearmed robotic elbow configuration comprises a main arm having a double elbow from which two coplanar forearms depend, two actuators carried in the double elbow for moving the forearms, and separate, independent end effectors, operated by a cable carried from the main arm through the elbow, is attached to the distal end of each forearm. Coiling the cables around the actuators prevents bending or kinking when the forearms are rotated 360 degrees. The end effectors can have similar or different capabilities. Actuator cannisters within the dual elbow are modular for rapid replacement or maintenance. Coarse and fine resolver transducers within the actuators provide accurate position referencing information.

REFERENCES:
patent: 3451224 (1969-06-01), Colechia et al.
patent: 3849668 (1974-11-01), Dane
patent: 4398110 (1983-08-01), Flinchbaugh
patent: 4427170 (1984-01-01), Truninger
patent: 4577127 (1986-03-01), Ferree et al.
patent: 4702668 (1987-10-01), Carlisle et al.
patent: 4712972 (1987-12-01), Nakashima et al.
patent: 4712973 (1987-12-01), Garin et al.
patent: 4793203 (1988-12-01), Staggl et al.

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