Original Publication Date: 1988-Jun-01
Included in the Prior Art Database: 2005-Feb-15
The figure illustrates a small, light and inexpensive x - y and theta precision motion mechanism that is part of an end-of-arm robotic tool or other similar application. The mechanism comprises a configuration of cams and gearing to achieve precise x - y and rotary motion with an internal camera-viewing capability. The gearing provides small, precise increments of rotary motion through a harmonic drive system designed with an internal opening through its center. The drive system comprises drive ring gear 7, pinner gear 8, shift control slider 9, input gear 10, and drive gear 11. This assembly works with and becomes part of the total mechanism. The x and y motions are initiated by respective cams 1 working against bias springs 5. Any rotary motion of journal 2 results in cam pressure and linear motion of support block 6.