Advanced servo manipulator

Patent · Fri Jan 01 00:00:00 EST 1988

OSTI ID:866747

Holt, William E ^[1]; Kuban, Daniel P ^[2]; Martin, H Lee ^[1]

---

1. Knoxville, TN
2. Oak Ridge, TN

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.

• Research Organization: Oak Ridge National Laboratory (ORNL), Oak Ridge, TN (United States)
• DOE Contract Number: W-7405-ENG-26
• Assignee: Martin Marietta Energy Systems, Inc. (Oak Ridge, TN)
• Patent Number(s): US 4780047
• OSTI ID: 866747
• Country of Publication: United States
• Language: English

Related Subjects

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/