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Robot Gimbal With Three Degrees of Freedom

IP.com Disclosure Number: IPCOM000043632D
Original Publication Date: 1984-Sep-01
Included in the Prior Art Database: 2005-Feb-05
Document File: 2 page(s) / 51K

Publishing Venue

IBM

Related People

Robinson, JT: AUTHOR [+3]

Abstract

A robot gimbal providing three degrees of freedom in roll, pitch and yaw is provided to carry a 10-pound payload including the gripper and is capable of speeds of 250Œ/second. The arrangement provides maximum torque speed and reliability for a minimum volume, weight, and cost. The ease of assembly was another prime design consideration. The three axes are shown in Fig. 1. The yaw axis provides Å 180Œ of rotation of the roll-pitch axes. The pitch motion (Å90Œ) is provided by pivoting a block 10 with a yoke 12 which supports the block. The same block 10 contains the drive 14 for the roll axis which rotates Å180Œ. This unique design has the following: 1. The yaw motor 16 is enclosed within the Z arm (not shown) of the robot. 2.

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Robot Gimbal With Three Degrees of Freedom

A robot gimbal providing three degrees of freedom in roll, pitch and yaw is provided to carry a 10-pound payload including the gripper and is capable of speeds of 250OE/second. The arrangement provides maximum torque speed and reliability for a minimum volume, weight, and cost. The ease of assembly was another prime design consideration. The three axes are shown in Fig. 1. The yaw axis provides Å 180OE of rotation of the roll-pitch axes. The pitch motion (Å90OE) is provided by pivoting a block 10 with a yoke 12 which supports the block. The same block 10 contains the drive 14 for the roll axis which rotates Å180OE. This unique design has the following:
1. The yaw motor 16 is enclosed within the Z arm (not

shown) of the robot. 2. Harmonic drives 18 for the roll and pitch axes are enclosed within the same block 10 (see Fig. 3 for the pitch

harmonic drive). 3. Maximum stiffness for the yoke 12 was achieved by making it a one-piece casting. Gussets 20 were placed on

the side of the casting to maximize the stiffness-to-weight

ratio. 4. A "quick disconnect" (not shown) was located at

the output of the yaw and roll axes in order to allow quick

assembly and disassembly of the roll-pitch axes and a

gripper. 5. Modularity of the gimbal is provided by having

interchangeable disconnections at the yaw and roll axes. 6. Inserts 22 are used on each side of the yoke 12 so that a one-piece yoke may be used. The inserts 22 hold the

bearin...