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[103] Citation: Abstract
A substantially balanced, five-axis, direct drive mini-robot provides
repeatable micro-manipulation to micron precision. Dynamic forces of
each link are nearly decoupled from the dynamic forces of remaining
links. The robot is generally formed as a shoulder, arm and wrist
assembly. At the shoulder a linear actuator drives the robot in a linear
horizontal movement along a first axis (e.g., z axis). Two additional
actuators at the shoulder provide revolute motion to rotate the arm in
an xz plane (e.g., for lateral motion) and a yz plane (e.g., for
vertical motion), respectively. A fourth actuator provides rotational
motion to move an end-effector (manipulator) at the wrist through a yaw
motion. A fifth actuator, positioned at the shoulder and linked to the
wrist, provides rotational motion to move the end-effector through a
pitch motion. 12 Claims, 7 Drawing Sheets.
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Updated: Tue Jul 15 23:54:50 2008
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