Modular multimorphic kinematic arm structure and pitch and yaw joint for same
US4828453A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Apr 21, 1987 |
| Grant date | May 9, 1989 |
| Priority date | — |
| Expiry date | Apr 21, 2007 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10T74/20207
- WIPO fieldHandling
- WIPO sectorMechanical engineering
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.