B - Operations – Transporting – 25 – J
Patent
B - Operations, Transporting
25
J
B25J 3/04 (2006.01) B25J 9/16 (2006.01) B25J 13/02 (2006.01)
Patent
CA 2408822
The invention concerns a robotic arm consisting of two parallel branches (2, 3) formed by a number of reduced segments (5, 6, 7) and linked together through a wrist (4) via a wrist-holder (8) whereof the orientations are maintained substantially constant by drive trains (12 to 16). The working space of said control arm is wide and free of kinematic irregularity except in extreme positions, and provides good decoupling of translational and rotational movements.
Le bras de robot est composé de deux branches parallèles (2, 3) formées d'un nombre réduit de segments (5, 6, 7) et reliées entre elles par un poignet (4) par l'intermédiaire de porte-poignet (8) dont les directions sont maintenues sensiblement constantes par des transmissions (12 à 16). L'espace de travail de ce bras de commande est important et dépourvu de singularité cinématique sauf aux positions extrêmes, et un bon découplage des mouvements de translation et de rotation est obtenu.
Gosselin Florian
Riwan Alain
Commissariat A. L'energie Atomique
Goudreau Gage Dubuc
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