Browse Prior Art Database

Four Degree of Freedom Carrier

IP.com Disclosure Number: IPCOM000103093D
Original Publication Date: 1990-Jun-01
Included in the Prior Art Database: 2005-Mar-17
Document File: 1 page(s) / 41K

Publishing Venue

IBM

Related People

Pawletko, JP: AUTHOR

Abstract

A robot "hand" assembly R has a "wrist" action providing motion in pitch, roll and yaw about axes X, Y and Z, respectively. Three motor assemblies M1-M3 are connected mechanically in tandem, with the mechanical output of the first assembly M1 connected to the second motor assembly M2 and the mechanical output of the second assembly M2 connected to the third motor assembly M3. The mechanical connections afford rotation of the three assemblies M1-M3 in mutually orthogonal axes X, Y, Z. Each of the motor assemblies has a rotary reversible stepping motor of the variable reluctance type having an even plurality of three-phase magnetic pole structures. A work piece or a gripping device D is connected to the mechanical output of the third motor assembly M3.

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Four Degree of Freedom Carrier

      A robot "hand" assembly R has a "wrist" action providing motion
in pitch, roll and yaw about axes X, Y and Z, respectively. Three
motor assemblies M1-M3 are connected mechanically in tandem, with the
mechanical output of the first assembly M1 connected to the second
motor assembly M2 and the mechanical output of the second assembly M2
connected to the third motor assembly M3.  The mechanical connections
afford rotation of the three assemblies M1-M3 in mutually orthogonal
axes X, Y, Z.  Each of the motor assemblies has a rotary reversible
stepping motor of the variable reluctance type having an even
plurality of three-phase magnetic pole structures.  A work piece or a
gripping device D is connected to the mechanical output of the third
motor assembly M3.  Device D has a pair of opposing jaws J operated
by a servomotor M4 for opening and closing the jaws J.

                            (Image Omitted)

      Assembly R is or may be mounted to an XYZ translator system,
not shown, which allows the assembly R to be translated in an
independent bidirectional linear manner along the axes X, Y, Z.

      Disclosed anonymously.