Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Reexamination Certificate
2000-04-20
2001-11-13
Fenstermacher, David (Department: 3682)
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
C074S490050, C901S016000, C901S028000
Reexamination Certificate
active
06314828
ABSTRACT:
BACKGROUND OF THE INVENTION
1. Field of the Invention
The invention relates to a pantograph robot manipulator.
2. Description of the Prior Art
The known pantograph robot manipulators have four straight links defining a parallelogram. Although these devices are useful, they do not have the movements or the precision desired in some applications.
SUMMARY OF THE INVENTION
It is an object of the invention or base to provide a new and useful skew pantograph robot manipulator that offers advantages of two independent orthogonal straight-line motions, higher payload, higher precision, and sturdier structure. The two orthogonal straight-line motions(e.g. horizontal and vertical) generated by the robot renders more versatile and precise material handling capability. The two straight-line trajectories are controlled by two linear actuators, respectively. While activating the two linear actuators simultaneously, a curvilinear trajectory is enabled. The pantograph structure is a hybrid design of an open-chain robotic system, commonly used in mechanical system design, and a closed-chain mechanism, commonly used in mechanical system design. The advantages of a mechanism-higher payload, higher precision and sturdier structure-are inherited in the manipulator of the invention. The pantograph design magnifies the output motion (output/input>1); that is, a greater range of material handling ability can be produced with the same or even smaller input. It is time and energy efficient throughout the course of operations. Moreover, size of the robot can be reduced with a smaller footprint or base without sacrificing its performance due to this output/input augmentation. The invention can be of immediate industrial application and land based material handling applications such as manufacturing, construction, warehousing, and commercial shipping industry. Moreover, with a desirable precision, this invention is applicable to the development of a surgical robot manipulator.
The apparatus comprises four links pivotally coupled together. First and second links each comprises a first portion having an angular portion extending therefrom at an angle of between 120-135 degrees. The first link is pivotally coupled to the angular portion of the second link; the third link is pivotally coupled to the second link at about the juncture of its angular portion and its first portion; and the fourth link is pivotally coupled to the third link and to the first link, at about the juncture of its angular portion and its first portion. The first portion of the second link comprises means for use for attaching a tool or a utility device thereto. A first linear actuator is pivotally coupled to the pivotal connection between the third and fourth links and a second linear actuator is pivotally coupled to the angular portion of the first link.
The effective length of each of the first and third links between their pivotal connections is equal to R and the effective length of each of the second and fourth links between their pivotal connections is equal to r. The ratio R/r is equal to a magnitude of 3 to 7.
The first linear actuator can impart linear movement to the second link in a given direction and the second linear actuator can impart linear movement to the second link in a different direction. The two linear actuators when activated simultaneously can impart a curvilinear trajectory to the second link.
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J.D. De Vries, 1947.
Edward Kafrissen, Industrial Robots and Robotics (date unknown).
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Fenstermacher David
Mantooth Geoffrey A.
Zobal Arthur F.
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