Spherical robotic shoulder joint

Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element

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Details

74665C, 2481811, 248663, 901 28, 901 29, B25J 1702

Patent

active

055334180

ABSTRACT:
A two-degree-of-freedom spherical shoulder joint for a robot. The joint consists of a spherical ball member with gear teeth formed in its outer surface and three drive gears that mate with the gear teeth in the outer surface of the spherical member. The joint can rotate about any axis of rotation which lies within a plane defined by the contact points between the drive gears and the spherical member. By controlling the three drive gears to rotate by the proper amounts, the joint can be rotated about the desired axis of rotation. The inverse kinematics for controlling the joint are described.

REFERENCES:
patent: 1410370 (1922-03-01), Chesnutt
patent: 4194437 (1980-03-01), Rosheim
patent: 4296681 (1981-10-01), Rosheim
patent: 4628765 (1986-12-01), Dien et al.
patent: 4804220 (1989-02-01), Rosheim
patent: 4878393 (1989-11-01), Duta et al.
patent: 5036724 (1991-08-01), Rosheim
patent: 5101681 (1992-04-01), Shipgel
patent: 5142931 (1992-09-01), Menahem
patent: 5301566 (1994-04-01), Tahmasebi et al.
"On the Kinematic Design of Spherical Three-Degree-of-Freedom Parallel Manipulators", Gosselin and Lavoie, 17th International Symposium on Industrial Robots, pp. 394-402, Apr. 26-30, 1987.
"Four New Robot Wrist Actuators", Rosheim, 16th International Symposium on Industrial Robots, pp. 8.1-8.45, Apr. 1986.
"New Nonsingular Robot Wrist Design", Milenkovic, 17th International Symposium on Industrial Robots, pp. 13.29-13.42 Apr. 26-30, 1987.

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