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

Patent · Sun Jan 01 04:00:00 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
• 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

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