Geometrical instruments – Gauge – Collocating
Patent
1997-09-16
1999-06-08
Bennett, G. Bradley
Geometrical instruments
Gauge
Collocating
33520, G01B 525
Patent
active
059099410
ABSTRACT:
The present invention relates to a passive multiple remote center compliance (MRCC) device that serves as a mechanical wrist for a robot arm. Such a multiple remote center compliance device comprises a translational structure and a gyrational structure serially interconnected between an operator member and a mounting member for enabling translational and rotational motion at, near or beyond the remote compliance center, that is, the functioning end of the operator member. The translational structure is securely connected to the mounting member (such as the end effector of a robot arm) and is provided with a translational block therein so as to furnish lateral compliance and orientational compliance. The gyrational structure is connected and operated by an operating member (such as the gripper of the robot arm) and moves relatively to the translational structure. The gyrational structure is provided with a gyrational block therein having a spherical configuration so as to furnish angular compliance and orientational compliance. In an alternative embodiment, adjustable resilient means is provided to overcome gravitation effecting the translational and the gyrational blocks, so as to proceed with insertion and mating maneuvers not advancing vertically downwards.
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Chen Gin-Shan
Cheng Chi-Cheng
Bennett G. Bradley
National Science Council
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