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:
-
- Knoxville, TN
- Oliver Springs, TN
- Issue Date:
- Research Org.:
- Oak Ridge National Laboratory (ORNL), Oak Ridge, TN (United States)
- OSTI Identifier:
- 866948
- Patent Number(s):
- 4828453
- Assignee:
- United States of America as represented by United States (Washington, DC)
- Patent Classifications (CPCs):
-
B - PERFORMING OPERATIONS B25 - HAND TOOLS B25J - MANIPULATORS
Y - NEW / CROSS SECTIONAL TECHNOLOGIES Y10 - TECHNICAL SUBJECTS COVERED BY FORMER USPC Y10T - TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- 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 = {Sun Jan 01 00:00:00 EST 1989},
month = {Sun Jan 01 00:00:00 EST 1989}
}
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