Varible compliance manipulator

Details Varible compliance manipulator Varible compliance manipulator

1987-03-30

1988-07-12

Spar, Robert J.

Material or article handling

Vertically swinging load support

Grab

414744A, 901 15, 901 48, B25T 906

Patent

active

047566620

ABSTRACT:
A variable compliance manipulator comprising a five linkage structure in which one stationary segment and at least four moving segments are connected with one another through joints each having one degree of freedom, and actuators disposed on two or three of the joints and having a variable-stiffness property, wherein the stiffness of motion of the manipulator in working can be adjusted by detecting and delivering the change in angle of the moving segments to a servo system for controlling the actuators.

REFERENCES:
patent: 4445273 (1984-05-01), Brussel et al.
patent: 4507043 (1985-03-01), Flatau
patent: 4534694 (1985-08-01), Tuda

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