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.
- Inventors:
-
- Knoxville, TN
- Oak Ridge, TN
- Issue Date:
- Research Org.:
- Oak Ridge National Laboratory (ORNL), Oak Ridge, TN (United States)
- OSTI Identifier:
- 866747
- Patent Number(s):
- 4780047
- Assignee:
- Martin Marietta Energy Systems, Inc. (Oak Ridge, TN)
- Patent Classifications (CPCs):
-
B - PERFORMING OPERATIONS B25 - HAND TOOLS B25J - MANIPULATORS
- DOE Contract Number:
- W-7405-ENG-26
- Resource Type:
- Patent
- Country of Publication:
- United States
- Language:
- English
- Subject:
- advanced; servo; manipulator; modular; motor; drive; individual; input; gears; control; shoulder; roll; pitch; elbow; wrist; yaw; tong; spacing; modules; support; module; controlling; sleeve; attached; fixed; relation; thereto; inner; cylindrical; rotatable; relative; outer; gear; pod; assembly; mounted; plurality; shafts; driven; transmit; rotary; power; provide; bendable; joint; supply; motive; rotary shaft; outer cylindrical; inner cylindrical; relation thereto; rotatable relative; motive power; servo manipulator; wrist roll; advanced servo; /414/901/
Citation Formats
Holt, William E, Kuban, Daniel P, and Martin, H Lee. Advanced servo manipulator. United States: N. p., 1988.
Web.
Holt, William E, Kuban, Daniel P, & Martin, H Lee. Advanced servo manipulator. United States.
Holt, William E, Kuban, Daniel P, and Martin, H Lee. Fri .
"Advanced servo manipulator". United States. https://www.osti.gov/servlets/purl/866747.
@article{osti_866747,
title = {Advanced servo manipulator},
author = {Holt, William E and Kuban, Daniel P and Martin, H Lee},
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.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Fri Jan 01 00:00:00 EST 1988},
month = {Fri Jan 01 00:00:00 EST 1988}
}