B - Operations – Transporting – 25 – J
Patent
B - Operations, Transporting
25
J
294/4
B25J 3/00 (2006.01)
Patent
CA 1108668
ABSTRACT OF THE DISCLOSURE An anthropomorphic manipulator arm assembly is dis- closed herein in which first and second arm members are connected to one another in a manner such that the distal end of one mem- ber may be moved relative to the proximal end of the other arm in a straight line. The arm assembly includes a first arm member and a second arm member. A shoulder joint is provided for connecting the first arm member to a suitable support for rotation about a first axis. An elbow joint is provided for connecting the first arm member to the second arm member for rotation about a second axis. An actuator is drivingly connected to the first arm for rotatably driving the first arm about the first axis at a first angular velocity. A first power transmission is provided for drivingly connecting the actuator means to the second arm to rotatably drive the second arm about the second axis at a second angular velocity which is twice the first angular velocity but in the opposite direc- tion. The second arm is driven in the opposite direction to that in which the first arm is driven about the first axis. The actuator drives the first arm member about the first axis whereby the distal end of the second arm is driven in a straight path which extends radially from the first axis during both extension and retraction.
329700
Horellou Michel R.
Woodford Alan T.
Fetherstonhaugh & Co.
Spar Aerospace Limited
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