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In-Line Gimbal With Hoses Attached Disclosure Number: IPCOM000046803D
Original Publication Date: 1983-Aug-01
Included in the Prior Art Database: 2005-Feb-07

Publishing Venue


Related People

Cummins, AW Majewski, FT Riggs, CD Wattanberger, HE [+details]


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.