Multiple joint robot part
First Claim
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1. A robot part adapted to be driven by a robot drive means, the part comprising:
- a relatively stationary base;
a first pair of independent rotational axes having a first point of mutual intersection (A) and being movable relative to each other;
a second pair of independent rotational axes having a second point of mutual intersection (D) spaced a first distance (AD) from the first point of mutual intersection, the second pair of axes being movable relative to each other;
first link means supported on said base;
second link means being rotationally supported on each of the first pair of axes and the second link means being rotationally supported on each of the second pair of axes;
third link means having first and second end points (B and C, respectively) fixed relative to the base, and the second link means, respectively, for establishing a fixed second distance (BC), during rotation of the first and second link means about their respective axes, wherein none of the first and second points of mutual intersection (A and D, respectively) and the first and second end points (B and C, respectively) are coincident, the first point of intersection and the first end point (A and B, respectively) defining a third distance (AB) and the second point of intersection and the second end point (D) and (C) respectively) defining a fourth distance (DC); and
actuator means for providing independent rotation of said first link means about each of the first pair of axes to operatively transfer corresponding bend movements in more than one stage to selectively establish the position of said second link means relative to the base.
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Abstract
A multiple joint robot part comprising a mechanical wrist mechanism utilizes universal joints to effect simultaneous rotations about three mutually perpendicular axes to thereby impart pitch, yaw and roll motions to a robotic end effector attached thereto. All of the wrist motions are kinematically independent, and the pitch and yaw motions are activated by means of linear motion actuators. Pitch and yaw bend angles are traversed gradually in two or more stages to allow a generous bend radius for internally routed service lines to the end effector.
70 Citations
17 Claims
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1. A robot part adapted to be driven by a robot drive means, the part comprising:
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a relatively stationary base; a first pair of independent rotational axes having a first point of mutual intersection (A) and being movable relative to each other; a second pair of independent rotational axes having a second point of mutual intersection (D) spaced a first distance (AD) from the first point of mutual intersection, the second pair of axes being movable relative to each other; first link means supported on said base; second link means being rotationally supported on each of the first pair of axes and the second link means being rotationally supported on each of the second pair of axes; third link means having first and second end points (B and C, respectively) fixed relative to the base, and the second link means, respectively, for establishing a fixed second distance (BC), during rotation of the first and second link means about their respective axes, wherein none of the first and second points of mutual intersection (A and D, respectively) and the first and second end points (B and C, respectively) are coincident, the first point of intersection and the first end point (A and B, respectively) defining a third distance (AB) and the second point of intersection and the second end point (D) and (C) respectively) defining a fourth distance (DC); and actuator means for providing independent rotation of said first link means about each of the first pair of axes to operatively transfer corresponding bend movements in more than one stage to selectively establish the position of said second link means relative to the base. - View Dependent Claims (8, 11, 12, 13, 14, 15)
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2. A mechanical wrist mechanism adapted to be driven by a robot drive means for positioning an end effector comprising:
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a relatively stationary base; a first point of independent rotational axes having a first point of mutual intersection (A) and being movable relative to each other; a second pair of independent rotational axes having a second point of mutual intersection (D) spaced a first distance (AD) from the first point of mutual intersection, the second pair of axes being movable relative to each other; a first line means supported on said base; a second link means supported on the first link means, the first link means being rotationally supported on each of the first pair of axes and the second link means being rotationally supported on each of the second pair of axes; end effector support means including an end effector mounting surface, the end effector support means being supported on the second link means for rotation about a third independent rotational axis; a rotary drive shaft rotatably supported by said stationary base; third link means in driving engagement with the draft shaft and the tool support member for transferring the rotary motion of the drive shaft to the tool support member, the third link means having first and second end points (B and C, respectively) fixed relative to the base and the second link means, respectively, for establishing a fixed second distance (BC) during rotation of the first and second link means about their axes wherein none of the first and second points of mutual intersection (A and D, respectively) and the first and second end points (B and C, respectively) are coincident; and actuator means for providing independent rotation of said first link means about the first pair of axes to operatively transfer corresponding bend movements in more than one stage to the end effector support means to selectively establish the position of said mounting surface relative to the base within a work envelope. - View Dependent Claims (3, 4, 5, 6, 7, 9, 10, 16, 17)
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Specification