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 Laboratory (ORNL), Oak Ridge, TN (United States)
- OSTI Identifier:
- 6660011
- Patent Number(s):
- 6041025
- Application Number:
- ON: DE89000222
- Assignee:
- Dept. of Energy
- Patent Classifications (CPCs):
-
G - PHYSICS G06 - COMPUTING G06F - ELECTRIC DIGITAL DATA PROCESSING
G - PHYSICS G09 - EDUCATION G09B - EDUCATIONAL OR DEMONSTRATION APPLIANCES
- 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 = {Tue Apr 21 00:00:00 EDT 1987},
month = {Tue Apr 21 00:00:00 EDT 1987}
}
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