Further, as for the positioning transport device according to Patent Document 2, the drive structure of the feed arm according to Patent Document 3, the industrial robot according to the Patent Document 4, and the transport device according to Patent Document 5, the main arm member and the sub arm member are overlapped on and coupled to each other in a thickness direction, and thus, the tip end part of the main arm member is easily drawn proximally to the sub arm member. In the present invention, the gripping unit is attached to the rotor of the rotation unit. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Further, in the Scott Russell mechanism device according to the present invention, a gripping unit may be attached to a tip end side of the pivoting unit. On this Wikipedia the language links are at the top of the page across from the article title. Manufacturing methods for gripping devices, robot devices, control methods, control programs, recording media, and articles. Includes bibliographical references and index. Therefore, a plurality of variations can be provided to the method of moving the base end part of both of the arm members, resulting in being able to flexibly perform the moving of the tip end part of the main arm member. In the present invention, the pivoting member is pivotably coupled to the joint unit and the rotation unit having the rotor is coupled to the pivoting member. The angle changer may have a first ball screw arranged in parallel to the virtual straight line, and a first linearly-moving unit for being linearly moved by a rotation of the first ball screw. In this mechanism, the centres Oand O1 are fixed.. In the present invention, when the coupling angle is changed so that the base end parts of the main arm member and the sub arm member are most separated from each other, the degree of the curve of the main arm member is defined such that the second section of the main arm member is in a substantially parallel orientation to the linear sub arm member. STRAIGHT LINE MOTION MECHANISM Converts rotary motion into a straight line motion. The Scott Russell mechanism device of, 14. The optimally-designed stage was fabricated by wire electrical discharge machining and tested to investigate its performance. Since the postures of these units on the tip end side depend on the direction (posture) of the tip end of the main arm member, a problem arises that a range in which the postures of the units attached to the tip end of the main arm member can be changed is limited. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Stuart J. Russell and Peter Norvig Upper Saddle River, New Jersey 07458. Therefore, the application of the Scott Russell mechanism device according to the present invention expands. A Scott Russell mechanism device, comprising: a sub arm member pivotably coupled to the main arm member by a coupling shaft; and. There are many mechanisms based on slider crank linkage which can generate exact straight lines for limited intervals. One link is double the size of the other, and is connected to the smaller link by its midpoint. SCOTT RUSSEL MECHANISM [THEORY OF MACHINES] 1,251 views Sep 9, 2018 A Scott Russell linkage gives a theoretically linear motion by using a linkage form with three portions of the links all. This mecha- tion of point E, as shown in Figure 2 (a) [8-10]. 38. Scott-Russell Mechanism. The flexure-based Scott-Russell mechanism can be simplified as four bar mechanism and shown in Fig. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. Therefore, the rotation unit can perform the postural displacement in a different range from the case of coupling in an order different from the above, and the application of the Scott Russell mechanism device according to the present invention further expands. These displacement amplifier mechanisms often have a proper amplification ratio capable of large working strokes; however, their low resonant frequency limits their application in high-performance jet dispensers. A dialindicator is a precision measuring tool that uses a needle or pointer to display a measurement on a dial. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO). It is evident from the figure that this mechanism is made up of isosceles triangles, AB, AC and AO2 are of equal lengths. The Scott Russell mechanism device of, 13. In the present invention, the joint unit pivotably coupled to the tip end part of the main arm member can be pivoted in the total of two kinds of manners including the pivot cooperating with the angle change between both of the arm members at the coupling position and the pivot independent to the angle change. Furthermore, in the Scott Russell mechanism device according to the present invention, a rotation unit having a rotor may be coupled to the joint unit. wherein an axis of the pivot of the pivoting member is in parallel to the pivoting axis of the joint unit, and. The proposed mechanism is applied in an internal materials movement system using autonomous guided vehicles (AGVs) for supporting logistics processes along the supply chain, aiming to replace the current manual operations. You can help Wikipedia by expanding it. Explanation: Scott Russell's mechanism is an exact straight line mechanism, however this mechanism is not so useful for practical purposes as friction and wear of sliding pair is more than that of turning pair. wherein the device comprises a pivoting drive source for driving the pivots of the main arm member and the sub arm member centering on the pivoting axis. ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SASAKI, HIROMICHI;SHIMIZU, MIKIO;ICHIKAWA, YASUNORI;REEL/FRAME:031303/0520, Free format text: Furthermore, in the Scott Russell mechanism device according to the present invention, the angle changer may also have a second ball screw arranged in parallel to the first ball screw, and a second linearly-moving unit for being linearly moved by a rotation of the second ball screw. Note that, the substantially parallel angle means that it does not require an accurate parallelism with respect to the sub arm member but includes a slight angle variation, and in the present invention, the substantially parallel angle can be said to be parallel as long as it is within a range of 10 with respect to the axis of the sub arm member in the longitude direction (also in other parts of description a variation range of 10 with respect to the accurate parallelism is included in the meaning of the phrase substantially parallel). The device may include a pivoting mechanism unit for automatically pivoting the joint unit cooperating with the angle change by the angle changer, a pivot driving unit for pivoting the joint unit via the pivoting mechanism unit independently from the angle change by the angle changer. a pivot driving unit for pivoting the joint unit via the pivoting mechanism unit independently from the angle change by the angle changer. Either one of the base end part of the main arm member or the base end part of the sub arm member may be pivotably coupled to the first linearly-moving unit about the virtual straight line as the pivoting axis thereof. The present invention can be switched, as for the joint unit attached to the tip end of the main arm, to the total of two ways of pivoting including the pivot cooperating with the angle change of the arm members at the coupling position and the pivot independent from the angle change, and thus the Scott Russell mechanism device can suitably be used for various applications. The Scott-Russell (SR) amplifying mechanism [1] is designed for a cutting tool to amplify the PA displacement and carry out high precision for the motion control system. The application of the Scott Russell mechanism device according to the present invention expands by attaching various kinds of units corresponding to various applications to its rotor. Scott Russell mechanism applied to a drive structure of a feed arm. With the industrial robot according to Patent Document 1, a main arm member (the first arm 31 in Patent Document 1) and a sub arm member (the second arm 32 in Patent Document 1) have fixed thicknesses to secure a desired rigidity (have fixed width and thickness dimensions in cross-sections orthogonal to longitudinal directions of both of the arm members), and thus, as base end parts of both of the arm members (end parts on the screw shaft 21 side in Patent Document 1) are spaced from each other, the arm members interfere with each other at a coupling position of both of the arm members, and a problem arises that the tip end part of the main arm member (end part on the side where the holder H is provided in Patent Document 1) cannot be moved proximally to the sub arm member (a problem arises that the holder H is hard to be moved close at hand to the screw shaft 21 side). This mechanism can generate an exact straight line if the link dimensions are correct. The displacement amplification mechanism has the primary role in sensitivity and performance analysis of micro-devices (Iqbal and Malik 2019). The commonly used displacement amplification compliant mechanism has plenty of categories of bridge-type mechanisms, lever mechanisms, Scott-Russell mechanisms, and many more (Xu and Li . Further, in the Scott Russell mechanism device according to the present invention, the main arm member and the sub arm member may be pivotable about the virtual straight line as a pivoting axis thereof. The degree of the curve of the main arm member may be defined such that the second section of the main arm member becomes at a substantially parallel angle to the sub arm member when the angle changer changes the coupling angle so that the base end parts of the main arm member and the sub arm member are most separated from each other. The proposed stage showed the first natural frequency of 57 Hz and the maximum stroke of 122.84 m, 108.46 m, 0.685 mrad in the x-, y-, and -direction, respectively. US 9,505,138 B2 device. The present invention relates to a device applied with a Scott Russell mechanism where a main arm member and a sub arm member are coupled to each other and a coupling angle therebetween is changeable, and particularly relates to a Scott Russell mechanism device that can attach units to the tip end side of the main arm member and change postures of the units variously. Furthermore, in the Scott Russell mechanism device according to the present invention, a rotation unit having a rotor may be coupled to the joint unit. Therefore, the rotation unit attached to the joint unit via the pivoting member can displace its rotor independently of the amount of the displacement of the tip end part of the main arm member, and the postural displacement of the rotor positioned at the farthest tip end increases much more. 1. In the present invention, either one of the base end parts of both of the arm members is linearly moved by the rotation of the first ball screw, and the pivots (turnings) of both of the arm members are driven about the virtual straight line connecting the base end parts of both arm members therebetween as the pivoting axis thereof, resulting in only both of the arm members turning. Simply download our free CAD . Patent Document 1 discloses a Scott Russell mechanism applied to an industrial robot. This paper describes the design of an exact straight line motion mechanism, commonly known as a Scott-Russell mechanism (SRM), for industrial application. In this mechanism, the slider is replaced by a link traveling . [1] [2] Therefore, the rotation unit attached to the joint unit via the pivoting member can displace its rotor independently of the amount of the displacement of the tip end part of the main arm member, and the postural displacement of the rotor positioned at the farthest tip end increases much more. wherein a rotation unit having a rotor is coupled to the pivoting member. wherein an angle of the side coupled to the sub arm member on the coupling position is made narrower than 180. A pivoting axis of the pivot of the joint unit may be in parallel to an axis of the pivots of the main arm member and the sub arm member at the coupling position. A pivoting unit having a pivoting part that is pivotable centering on an axis in parallel to the pivoting axis of the joint unit may be coupled to the rotor of the rotation unit. for multi-joint type robot, Gravitation balancing device, articulated robot, and wrist device for robot, IMPROVEMENTS ON PLANE MANIPULATORS WITH FROZEN OR PROGRAMMABLE TRAVEL AT VERY HIGH RATES, Mechanical arm with a 2 freedom-degree wrist attitude regulation mechanism, Exhaust gas purification catalyst and method for producing the same, Motor driven articulated arm with cable capstan including a brake, Robot arm, robot, and robot operation method. Grasshopper mechanism. Based on the geometry of the linkage the output motion is a simple sine function of the drive link or a simple harmonic motion. The linkage has a rhombic loop formed of the equal lenght members, 5, 6, 7 and 8. One of the ends is then connected to something that can generate linear motion, such as a rolling or sliding connection, or another straight line mechanism. Scott Russell has filed for patents to protect the following inventions. In order to solve the above problem, a Scott Russell mechanism device according to the present invention includes a main arm member, a sub arm member pivotably coupled to the main arm member, and an angle changer for changing a coupling angle between the main arm member and the sub arm member. An axis of the pivot of the pivoting member may be in parallel to the pivoting axis of the joint unit.
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