Modular multimorphic kinematic arm structure and pitch and yaw joint for same

Patent · Sun Jan 01 00:00:00 EST 1989

OSTI ID:866948

Martin, H Lee ^[1]; Williams, Daniel M ^[2]; Holt, W Eugene ^[1]

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1. Knoxville, TN
2. Oliver Springs, TN

A multimorphic kinematic manipulator arm is provided with seven degrees of freedom and modular kinematic redundancy through identical pitch/yaw, shoulder, elbow and wrist joints and a wrist roll device at the wrist joint, which further provides to the manipulator arm an obstacle avoidance capability. The modular pitch/yaw joints are traction drive devices which provide backlash free operation with smooth torque transmission and enhanced rigidity. A dual input drive arrangement is provided for each joint resulting in a reduction of the load required to be assumed by each drive and providing selective pitch and yaw motions by control of the relative rotational directions of the input drive.

• Research Organization: Oak Ridge National Laboratory (ORNL), Oak Ridge, TN (United States)
• Assignee: United States of America as represented by United States (Washington, DC)
• Patent Number(s): US 4828453
• OSTI ID: 866948
• Country of Publication: United States
• Language: English

Related Subjects

modular
multimorphic
kinematic
arm
structure
pitch
yaw
joint
manipulator
provided
seven
degrees
freedom
redundancy
identical
shoulder
elbow
wrist
joints
roll
device
provides
obstacle
avoidance
capability
traction
drive
devices
provide
backlash
free
operation
smooth
torque
transmission
enhanced
rigidity
dual
input
arrangement
resulting
reduction
load
required
assumed
providing
selective
motions
control
relative
rotational
directions
manipulator arm
rotational direction
traction drive
relative rotation
seven degrees
multimorphic kinematic
wrist roll
seven degree
kinematic redundancy
ash free
drive devices
/414/74/901/