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Title: Advanced servo manipulator

Abstract

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. 41 figs.

Inventors:
; ;
Issue Date:
OSTI Identifier:
7068974
Patent Number(s):
4780047
Application Number:
PPN: US 6-720449
Assignee:
Martin Marietta Energy Systems, Inc., Oak Ridge, TN (United States)
DOE Contract Number:  
W-7405-ENG-26
Resource Type:
Patent
Resource Relation:
Patent File Date: 5 Apr 1985
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; MANIPULATORS; DESIGN; CONTROL EQUIPMENT; MOTION; MOTORS; OPERATION; ENGINES; EQUIPMENT; LABORATORY EQUIPMENT; MATERIALS HANDLING EQUIPMENT; REMOTE HANDLING EQUIPMENT; 420203* - Engineering- Handling Equipment & Procedures

Citation Formats

Holt, W E, Kuban, D P, and Martin, H L. Advanced servo manipulator. United States: N. p., 1988. Web.
Holt, W E, Kuban, D P, & Martin, H L. Advanced servo manipulator. United States.
Holt, W E, Kuban, D P, and Martin, H L. Tue . "Advanced servo manipulator". United States.
@article{osti_7068974,
title = {Advanced servo manipulator},
author = {Holt, W E and Kuban, D P and Martin, H L},
abstractNote = {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. 41 figs.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1988},
month = {10}
}