Modular multimorphic kinematic arm structure and pitch and yaw joint for same
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 means and providing selective pitch and yaw motions by control of the relative rotational directions of the input drive means. 12 figs.
- Research Organization:
- Oak Ridge National Laboratory (ORNL), Oak Ridge, TN (United States)
- DOE Contract Number:
- AC05-84OR21400
- Assignee:
- Dept. of Energy
- Patent Number(s):
- PATENTS-US-A6041025
- Application Number:
- ON: DE89000222
- OSTI ID:
- 6660011
- Resource Relation:
- Other Information: Portions of this document are illegible in microfiche products
- Country of Publication:
- United States
- Language:
- English
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Modular multimorphic kinematic arm structure and pitch and yaw joint for same
Modular multimorphic kinematic arm structure and pitch and yaw joint for same