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Browse Prior Art Database

Remote Drive Manipulator Wrist and Gripper Actuation Capability

IP.com Disclosure Number: IPCOM000106707D
Original Publication Date: 1993-Dec-01
Included in the Prior Art Database: 2005-Mar-21
Document File: 2 page(s) / 34K

Publishing Venue

IBM

Related People

Colson, JC: AUTHOR

Abstract

The wrist configuration described here performs all motions required of a robot wrist and, additionally, provides a mechanical input which may be used to precisely control the motion of a gripper. The drive system for each wrist joint as well as the drive system for the gripper are all remotely mounted to allow for a greater mobility of joints and reduction of swept volume of the mechanical system.

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Remote Drive Manipulator Wrist and Gripper Actuation Capability

      The wrist configuration described here performs all motions
required of a robot wrist and, additionally, provides a mechanical
input which may be used to precisely control the motion of a gripper.
The drive system for each wrist joint as well as the drive system for
the gripper are all remotely mounted to allow for a greater mobility
of joints and reduction of swept volume of the mechanical system.

This design provides the following capabilities:

o   Complete three degrees of freedom motion with a range appropriate
    for use on an industrial robot.

o   Controlled mechanical motion at the gripper attachment point of
    the wrist which can be used for gripper actuation.

o   Remote actuation for the three degrees of freedom as well as the
    gripper attachment point.  One implementation of this design is
    shown in the Figure.

      This wrist design would be most appropriately used in robot
applications with one or more of the following characteristics:

o   Need for servo controller grasping capability.

o   Need to minimize arm weight and maximize payload.

o   Need for ease of maintenance.

o   Need to remove actuators as far as possible from the work
    envelope.