ROBOT HAVING MULTIPLE DEGREES OF FREEDOM

A robotic arm structure (10) includes at least two links (L1, L2). Theta motion is provided about a primary axis (21) at the proximal end portion of the proximalmost of the links (L1). R motion proceeds radially from the primary axis (21) whereby the distal end portion of the distalmost of the links...

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Bibliographische Detailangaben
Hauptverfasser:	KOSTOV, LUBO, SOTIROV, ZLATKO, BONEV, EUGENE, TOTEV, VALENTIN, GENOV, GENCO DI, TODOROV, ALEXANDER, PETKOV, PETER
Format:	Patent
Sprache:	eng ; fre
Schlagworte:	BASIC ELECTRIC ELEMENTS CHAMBERS PROVIDED WITH MANIPULATION DEVICES CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING ELECTRIC SOLID STATE DEVICES NOT OTHERWISE PROVIDED FOR ELECTRICITY FUNCTIONAL ELEMENTS OF SUCH SYSTEMS GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS HAND TOOLS MANIPULATORS MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS REGULATING SEMICONDUCTOR DEVICES TECHNICAL SUBJECTS COVERED BY FORMER USPC TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ARTCOLLECTIONS [XRACs] AND DIGESTS TRANSPORTING
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Beschreibung
Zusammenfassung:	A robotic arm structure (10) includes at least two links (L1, L2). Theta motion is provided about a primary axis (21) at the proximal end portion of the proximalmost of the links (L1). R motion proceeds radially from the primary axis (21) whereby the distal end portion of the distalmost of the links (L2) can be moved in a radially extending straight line. At least two independent end effectors (18) are pivotally mounted for rotation relative to the distal end portion of the distalmost link (L2) about an end effector axis (25) which is parallel to the primary axis (21). The arm structure (10) is improved by adding independent yaw motors (motor 3) for rotating the end effectors (18) independently. Une structure (10) de bras robotique comprend au moins deux liaisons (L1, L2). Un mouvement têta est permis autour d'un axe primaire (21) au niveau de la partie d'extrémité proximale de la liaison (L1) la plus proximale. Un mouvement R procède radialement depuis l'axe primaire (21) de manière à permettre le mouvement de la partie d'extrémité distale de la liaison (L2) la plus distale en une ligne droite s'étendant radialement. Au moins deux effecteurs terminaux indépendants (18) sont montés pivotants pour effectuer une rotation par rapport à la partie d'extrémité distale de la liaison (L2) la plus distale autour d'un axe (25) de l'effecteur terminal, lequel est parallèle à l'axe primaire (21). La structure (10) de bras est améliorée par l'ajout de moteurs (moteur 3) de lacet indépendants pour faire tourner indépendamment les effecteurs terminaux (18).