Robot arm

Details Robot arm Robot arm

1987-10-13

1989-05-09

Herrmann, Allan D.

Machine element or mechanism

Control lever and linkage systems

74479, B25J 1800, G05G 1100

Patent

active

048277916

ABSTRACT:
A robot arm consisting of an upper arm link and a lower arm link which are interconnected by a uniaxial joint. The upper arm link is connected with a structure via a universal joint. In order to attain a weight balance, a bellcrank level is placed on the upper arm link, on whose one lever arm an upwardly directed equalizing force acts and whose other lever arm is connected to the lower arm link. If both arm links are in alignment with one another, then the point of application of force on the one lever arm has its greatest distance to the universal joint. If, on the other hand, the lower arm link is swung out of its alignment with the upper arm link, then the distance between the point of application of force and the universal joint is decreased.

REFERENCES:
patent: 3449769 (1969-06-01), Mizen
patent: 4442387 (1984-04-01), Lindbom
patent: 4500251 (1985-02-01), Kiryu et al.

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