Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1992-06-25
1993-10-26
Braun, Leslie A.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
901 29, 74479PF, G05G 1100, B25J 1702
Patent
active
052555712
ABSTRACT:
A robot wrist comprises a wrist input connected to a wrist output through three mechanical links. Two of the mechanical links each include an actuator and a joint. Each actuator is pivotally attached to the wrist input. The output of each actuator is translationally driven along the output axis by the actuator. The input of each joint is rigidly attached to the corresponding actuator output. The third mechanical link includes a third joint and means for connecting the third joint input to the wrist input. The outputs of all three joints are rigidly mounted to the wrist output at three separate locations on the wrist output.
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Braun Leslie A.
Laub David W.
Mendelsohn Steve
Murray William H.
Rosenthal Robert E.
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