Robotic manipulator arm

Details Robotic manipulator arm Robotic manipulator arm

B - Operations, Transporting

25

J

294/9

B25J 18/00 (2006.01) B25J 9/04 (2006.01) B25J 9/10 (2006.01) B25J 18/02 (2006.01) B25J 19/00 (2006.01)

Patent

CA 1209172

ABSTRACT OF THE DISCLOSURE A robotic system including a manipulator arm for moving a device to a predetermined point within a working volume under control of microprocessor based control means. The manipulator arm includes various sections and joints defining a base, a shoulder, an arm and a wrist. The wrist is jointed to pivot about a pitch axis and a roll axis. The manipulator is arranged to pivot the arm about the base axis and shoulder axis, which axes intersect at a common point. The arm includes a section which is extendable through the use of telescoping links. The wrist is mounted on the end of the telescoping links, with the pitch and roll axes intersecting at a second point. The second point lies along the extension axis of the arm links and is spaced from the shoulder-base axis intersection point. The links forming the telescoping section are arranged to move unison with each other. Motor means and associated harmonic drives are provided to effect the motion at the joints. - 23 -

413845

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