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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 and providing selective pitch and yaw motions by control of the relative rotational directions of the input drive.

Inventors:
 [1];  [2];  [1]
  1. (Knoxville, TN)
  2. (Oliver Springs, TN)
Issue Date:
Research Org.:
Oak Ridge National Laboratory (ORNL), Oak Ridge, TN
OSTI Identifier:
866948
Patent Number(s):
4828453
Assignee:
United States of America as represented by United States (Washington, DC) ORNL
Resource Type:
Patent
Country of Publication:
United States
Language:
English
Subject:
modular; multimorphic; kinematic; arm; structure; pitch; yaw; joint; manipulator; provided; seven; degrees; freedom; redundancy; identical; shoulder; elbow; wrist; joints; roll; device; provides; obstacle; avoidance; capability; traction; drive; devices; provide; backlash; free; operation; smooth; torque; transmission; enhanced; rigidity; dual; input; arrangement; resulting; reduction; load; required; assumed; providing; selective; motions; control; relative; rotational; directions; manipulator arm; rotational direction; traction drive; relative rotation; seven degrees; multimorphic kinematic; wrist roll; seven degree; kinematic redundancy; ash free; drive devices; /414/74/901/

Citation Formats

Martin, H. Lee, Williams, Daniel M., and Holt, W. Eugene. Modular multimorphic kinematic arm structure and pitch and yaw joint for same. United States: N. p., 1989. Web.
Martin, H. Lee, Williams, Daniel M., & Holt, W. Eugene. Modular multimorphic kinematic arm structure and pitch and yaw joint for same. United States.
Martin, H. Lee, Williams, Daniel M., and Holt, W. Eugene. Sun . "Modular multimorphic kinematic arm structure and pitch and yaw joint for same". United States. https://www.osti.gov/servlets/purl/866948.
@article{osti_866948,
title = {Modular multimorphic kinematic arm structure and pitch and yaw joint for same},
author = {Martin, H. Lee and Williams, Daniel M. and Holt, W. Eugene},
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 and providing selective pitch and yaw motions by control of the relative rotational directions of the input drive.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1989},
month = {1}
}

Patent:

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