Robotic manipulator using rotary drives

Details Robotic manipulator using rotary drives Robotic manipulator using rotary drives

B - Operations, Transporting

25

J

B25J 9/04 (2006.01) B25J 9/10 (2006.01)

Patent

CA 2687067

The invention relates to a two degree-of-freedom apparatus comprising a first driven member (20) rotatable about a first driven axis, a first driven member (10) coupled to said first driven member for rotating said first driven member about said first driven axis, a link member (70) fixedly connected to said first driven member, a second driven member (40) rotatable mounted to said link member for rotating about a second driven axis, with said second driven axis generally parallel to said first driven axis, and a second driver member (30) coupled at a drive point to said second driven member for rotating said second driven member about said second driven axis, wherein said drive point is generally coincident with said first driven axis. The invention also provides an extension of the apparatus to three degrees of freedom. The apparatus is a positioning and' manipulating apparatus in one aspect, and a measuring apparatus in another aspect.

L'invention concerne un appareil à deux degrés de liberté comprenant un premier élément entraîné (20) qui peut pivoter autour d'un premier axe entraîné, un premier élément entraîné (10) couplé audit premier élément entraîné de manière à faire pivoter ledit premier élément entraîné autour dudit premier axe entraîné. L'appareil comprend également un élément de liaison (70) raccordé de manière fixe audit premier élément entraîné, un second élément entraîné (40) monté de manière rotative sur ledit élément de liaison de manière à pivoter autour d'un second axe entraîné, ledit second axe entraîné étant globalement parallèle audit premier axe entraîné, et un second élément d'entraînement (30) couplé en un point d'entraînement audit second élément entraîné de manière à faire pivoter ledit second élément entraîné autour dudit second axe entraîné, ledit point d'entraînement coïncidant globalement avec ledit premier axe entraîné. L'invention fournit également une extension de l'appareil à trois degrés de liberté. L'appareil est un appareil de positionnement et de manipulation selon un aspect, et un appareil de mesure selon un autre aspect.

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