Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1986-11-24
1988-05-17
Herrmann, Allan D.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
464117, 901 28, 901 29, G05G 1100, B25J 1702
Patent
active
047442646
ABSTRACT:
The end of a robot arm includes two links, a first or inner link supported rotatably about a central axis and an end link on which a tool is carried. Located between the links are a ring and a tube whose longitudinal axes are concentric. Each of four gimbal rings is used as a member of a universal joint that connects the links, the ring and the tube. The links are connected by two universal joints in series, and the ring connects these joints. The links are also connected by two other universal joints in series and the tube connects this second pair of joints. The first and second pairs of universal joints connected in series are connected to one another in parallel. Gimbal rings rotatably supported on the tube and on the links for angular movement about the yaw axis provide rotational support for the links and the connecting rod about the pitch axis. Actuating rods connected to the inner set of gimbal rings produce articulation of the wrist about these axis when the rods are actuated. Angular pitch displacement and angular yaw displacement are equalized between the inner set of gimbal rings and the outer set of gimbal rings by tension members.
REFERENCES:
patent: 3580099 (1971-05-01), Mosher
patent: 4107948 (1978-08-01), Molaug
patent: 4300362 (1981-11-01), Lande et al.
patent: 4353677 (1982-10-01), Susnjara et al.
patent: 4365928 (1982-12-01), Baily
patent: 4568311 (1986-02-01), Miyake
A New Pitch-Yaw-Roll Mechanical Robot Wrist Actuator, vol. 2, Society of Manufacturing Engineers, Jun. 2-6, 1985, Mark E. Rosheim, Proceedings of Robots 9 Conference.
Ford Motor Company
Harrington Donald J.
Herrmann Allan D.
McKenzie Frank G.
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