Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1993-09-30
1995-04-04
Herrmann, Allan D.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
16 1C, 2482801, 2482921, 901 48, B66C 2372, B25J 1900, F16F 106
Patent
active
054026903
ABSTRACT:
In a robot for compensating gravitational torque, various types of installation postures, including installation of a floor and hanging from a ceiling, can easily be realized. Namely, the characteristics of the gravitational balancer are selected in order to compensate for various postures of the robot, such as that when installed on a floor or hung from a ceiling. Also, a direction of the compensation torque can freely be changed by adjusting a spring mounting position in the rotational link or in the stationary link. Further, adjustment of the compensation torque can freely be carried out by providing a plurality of spring set positions in the stationary link as well as in the rotational link. In addition, adjustment of the compensation torque can freely be carried out also by adjusting the mounting length of a spring set between the stationary link and the rotational link.
REFERENCES:
patent: 4500251 (1985-02-01), Kiryu et al.
patent: 4620829 (1986-11-01), Herve
patent: 4653975 (1987-03-01), Akeel
patent: 4753128 (1988-06-01), Bartlett et al.
patent: 4768762 (1988-09-01), Lund
Nishimura Takaaki
Sekiguchi Hisayoshi
Herrmann Allan D.
Mitsubishi Denki & Kabushiki Kaisha
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