Browse Prior Art Database

In-Line Gimbal With Hoses Attached

IP.com Disclosure Number: IPCOM000046803D
Original Publication Date: 1983-Aug-01
Included in the Prior Art Database: 2005-Feb-07
Document File: 2 page(s) / 61K

Publishing Venue

IBM

Related People

Cummins, AW: AUTHOR [+4]

Abstract

This improvement pertains to a robot having roll, pitch and yaw capabilities consisting of roll, pitch and yaw gimballing and drives located near the outer end of the arm. The gimbal being replaced is of an offset configuration which consists of a yaw actuator mounted directly on the center top end of the "Z" axis arm. An "L"-shaped bracket is attached to the yaw motor which supports the pitch motor off to the side. Another bracket is attached to the pitch motor which supports the roll motor below, in line with the yaw motor. These motors are hydraulic rotary actuators and are activated by the flow of oil through small diameter nylon tubing. The nylon tubing does not conform to the minimum burst pressure requirements. The "L"-shaped bracket tends to flex when direct downward pressure is applied in the "Z" axis.

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In-Line Gimbal With Hoses Attached

This improvement pertains to a robot having roll, pitch and yaw capabilities consisting of roll, pitch and yaw gimballing and drives located near the outer end of the arm. The gimbal being replaced is of an offset configuration which consists of a yaw actuator mounted directly on the center top end of the "Z" axis arm. An "L"-shaped bracket is attached to the yaw motor which supports the pitch motor off to the side. Another bracket is attached to the pitch motor which supports the roll motor below, in line with the yaw motor. These motors are hydraulic rotary actuators and are activated by the flow of oil through small diameter nylon tubing. The nylon tubing does not conform to the minimum burst pressure requirements. The "L"-shaped bracket tends to flex when direct downward pressure is applied in the "Z" axis. It will likewise flex when in an angular position. The tolerance accumulation of the various mounting brackets is such that it is virtually impossible to rotate the gimbal concentrically when in the yaw mode. The in-line gimbal permits all three rotary actuators to be mounted in a straight line. This eliminates the "L" bracket and its flexing problem since all actuators are supported on both sides. In the in-line gimbal, the pitch actuator shaft remains stationary while the actuator body revolves about the shaft. By utilizing swivel fittings 10, the need for bending the tubing is eliminated and the use of larger hydraulic...