Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1986-04-18
1988-06-07
Herrmann, Allan D.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
248278, 901 29, G05G 1100, B25J 1702
Patent
active
047488670
ABSTRACT:
A wrist assembly for an industrial robot comprising a base member mountable on an arm member of the robot, a carrier member mounted on the base member for pivotal movement about a first axis, a support member mounted on the carrier member for pivotal movement about a second axis intersecting the first axis whereby the support member is adapted to move universally relative to the base member, a first control rod having a base section operatively connectable to the robot for having motion along the length thereof imparted thereto and a linking section universally connected to the base section and connected to the support member, a second control rod having a base section operatively connectable to the robot for having motion along the length thereof imparted thereto and a linking section universally connected to the base section and connected to the support member, a third control rod having a base section operatively connectable to the robot for having rotational motion about its longitudinal centerline imparted thereto and a tool mounting section universally connected to the base member and mounted on the support member, and the pivotal center of the universal connection between the base and mounting sections of the third control rod coinciding with the intersection of the first and second axes.
REFERENCES:
patent: 4229136 (1980-10-01), Panissidi
patent: 4300362 (1981-11-01), Lande et al.
Herrmann Allan D.
Thermwood Corporation
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