Robotic manipulator

Details Robotic manipulator Robotic manipulator

G - Physics

21

C

294/4

G21C 19/32 (2006.01) B25J 1/00 (2006.01) B25J 3/00 (2006.01) B25J 17/02 (2006.01)

Patent

CA 1186005

Abstract of the Disclosure A robotic manipulator has three linearly extensible arms mounted on a frame in a triangular array and carrying at their remote ends a connector inter- face coupling the arms to a tool for manipulating parts to be positioned or for other work. The structure is such that the location of the connector is deter- mined solely by the lengths of the arms, while its orientation is determined primarily by the angular rotation of the arms, thereby minimizing the computation required to accurately position a tool. The driving motors for the arms are located at the arm ends adjacent the frame; this minimizes the mass, and thus the inertia, located at the connector end, and enables high acceleration and rapid motion of the connector head and its associated tool. Further, a three -point suspension for the arms provides high stiffness enabling the system to carry substantial loads at high speed and with good positioning and orientation accuracy.

386948

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