Advanced servo manipulator

Patent · Fri Jan 01 04:00:00 EST 1988

OSTI ID:866747

Holt, William E ^[1]; Kuban, Daniel P ^[2]; Martin, H Lee ^[1]

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1. Knoxville, TN
2. Oak Ridge, TN

An advanced servo manipulator has modular parts. Modular motor members drive individual input gears to control shoulder roll, shoulder pitch, elbow pitch, wrist yaw, wrist pitch, wrist roll, and tong spacing. The modules include a support member, a shoulder module for controlling shoulder roll, and a sleeve module attached to the shoulder module in fixed relation thereto. The shoulder roll sleeve module has an inner cylindrical member rotatable relative to the outer cylindrical member, and upon which a gear pod assembly is mounted. A plurality of shafts are driven by the gears, which are in turn driven by individual motor modules to transmit rotary power to control elbow pitch as well as to provide four different rotary shafts across the bendable elbow joint to supply rotary motive power to a wrist member and tong member.

• Research Organization: Oak Ridge National Laboratory (ORNL), Oak Ridge, TN
• DOE Contract Number: W-7405-ENG-26
• Assignee: Martin Marietta Energy Systems, Inc. (Oak Ridge, TN)
• Patent Number(s): US 4780047
• OSTI ID: 866747
• Country of Publication: United States
• Language: English

Related Subjects

/414/901/
advanced
advanced servo
assembly
attached
bendable
control
controlling
cylindrical
drive
driven
elbow
fixed
gear
gears
individual
inner
inner cylindrical
input
joint
manipulator
modular
module
modules
motive
motive power
motor
mounted
outer
outer cylindrical
pitch
plurality
pod
power
provide
relation
relation thereto
relative
roll
rotary
rotary shaft
rotatable
rotatable relative
servo
servo manipulator
shafts
shoulder
sleeve
spacing
supply
support
thereto
tong
transmit
wrist
wrist roll
yaw