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

Abstract

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.

Inventors:
; ;
Issue Date:
Research Org.:
Oak Ridge National Lab., TN (USA)
OSTI Identifier:
6660011
Patent Number(s):
-US-A6041025
Application Number:
ON: DE89000222
Assignee:
Dept. of Energy TIC; ERA-14-006265; EDB-89-008644
DOE Contract Number:  
AC05-84OR21400
Resource Type:
Patent
Resource Relation:
Other Information: Portions of this document are illegible in microfiche products
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; MANIPULATORS; DESIGN; DEGREES OF FREEDOM; ENGINEERING DRAWINGS; INVENTIONS; ROBOTS; SERVOMECHANISMS; CONTROL EQUIPMENT; DIAGRAMS; EQUIPMENT; LABORATORY EQUIPMENT; MATERIALS HANDLING EQUIPMENT; REMOTE HANDLING EQUIPMENT 420203* -- Engineering-- Handling Equipment & Procedures

Citation Formats

Martin, H.L., Williams, D.M., and Holt, W.E. Modular multimorphic kinematic arm structure and pitch and yaw joint for same. United States: N. p., 1987. Web.
Martin, H.L., Williams, D.M., & Holt, W.E. Modular multimorphic kinematic arm structure and pitch and yaw joint for same. United States.
Martin, H.L., Williams, D.M., and Holt, W.E. Tue . "Modular multimorphic kinematic arm structure and pitch and yaw joint for same". United States.
@article{osti_6660011,
title = {Modular multimorphic kinematic arm structure and pitch and yaw joint for same},
author = {Martin, H.L. and Williams, D.M. and Holt, W.E.},
abstractNote = {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.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1987},
month = {4}
}