Robotic manipulator arm

Details Robotic manipulator arm Robotic manipulator arm

1983-12-30

1985-10-15

Siemens, Terrance L.

Material or article handling

Vertically swinging load support

Grab

901 18, 901 21, 414718, 414690, B25J 900

Patent

active

045471193

ABSTRACT:
A robotic system including a manipulator arm for moving a device to a predetermined point within a working volume under control of microprocessor based control unit. The manipulator arm includes various sections and joints defining a base, a shoulder, an arm and a wrist. The wrist is jointed to pivot about a pitch axis and a roll axis. The manipulator is arranged to pivot the arm about the base axis and shoulder axis, which axes intersect at a common point. The arm includes a section which is extendable through the use of telescoping links. The wrist is mounted on the end of the telescoping links, with the pitch and roll axes intersecting at a second point. The second point lies along the extension axis of the arm links and is spaced from the shoulder-base axis intersection point. The links forming the telescoping section are arranged to move in unison with each other. A motor and associated harmonic drives are provided to effect the motion at the joints.

REFERENCES:
patent: 2933210 (1960-04-01), Dye
patent: 3043448 (1962-07-01), Melton
patent: 3087636 (1963-04-01), Weaver
patent: 3836025 (1974-09-01), Olson et al.
patent: 3960285 (1976-06-01), Gano
patent: 4312622 (1982-01-01), Favareto
1982 Robotics Industry Directory, "Maker I Robot System", p. 128.

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