Five axis direct-drive mini-robot having fifth actuator located at a non-adjacent joint

B. Hannaford, M.R. Moreyra, P.H. Marbot (1996) Five axis direct-drive mini-robot having fifth actuator located at a non-adjacent joint. 5,528,955.

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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. <p> 12 Claims, 7 Drawing Sheets.

Item Type: Patent
Subjects: Z Other
Divisions: Department of Electrical Engineering
Depositing User: Margaret Thompson
Date Deposited: 07 Jul 2015 21:23
Last Modified: 07 Jul 2015 21:23
URI: http://brl.ee.washington.edu/eprints/id/eprint/35

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