Robot cable-complaint devices

Details Robot cable-complaint devices Robot cable-complaint devices

1988-05-13

1990-08-07

Stodola, Daniel P.

Rotary shafts, gudgeons, housings, and flexible couplings for ro

Torque transmitted via flexible element

Element is flaccid and operates in tension during torque...

901 28, F16D 350

Patent

active

049464213

ABSTRACT:
A cable-compliant robotic joint includes two "U" configuration cross-section brackets with their "U" cross-sections lying in different planes, one of the brackets being connected to a robot arm and the other to a tool. Additional angle brackets are displaced from the other brackets at corners of the robotic joint. All the brackets are connected by cable segments which lie in one or more planes which are perpendicular to the direction of tool travel as it approaches a work object. The compliance of the joint is determined by the cable segment characteristics, such as their length, material, angle, stranding, pre-twisting and pre-stressing.

REFERENCES:
patent: 1672398 (1928-06-01), Treschow
patent: 3087313 (1963-04-01), Kerley, Jr.
patent: 3204943 (1965-09-01), Kerley, Jr.
patent: 3238744 (1966-03-01), Camossi
patent: 3238745 (1966-03-01), Burroughs
patent: 3885295 (1975-05-01), Engelberger et al.
patent: 4202107 (1980-05-01), Watson
patent: 4439926 (1984-04-01), Whitney et al.
"Concepts and Effects of Damping in Isolators", James Kerley, Jr.

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