Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1987-10-22
1989-02-21
Herrmann, Allan D.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
901 28, 901 29, G05G 1100, B25J 1700, B25J 1702
Patent
active
048054771
ABSTRACT:
A multiple joint robot part comprising a mechanical wrist mechanism utilizes universal joints to effect simultaneous rotations about three mutually perpendicular axes to thereby impart pitch, yaw and roll motions to a robotic end effector attached thereto. All of the wrist motions are kinematically independent, and the pitch and yaw motions are activated by means of linear motion actuators. Pitch and yaw bend angles are traversed gradually in two or more stages to allow a generous bend radius for internally routed service lines to the end effector.
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GMF Robotics Corporation
Herrmann Allan D.
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