scott russell mechanism application

In the present invention, either one of the base end parts of both of the arm members is linearly moved by the rotation of the first ball screw, and the pivots (turnings) of both of the arm members are driven about the virtual straight line connecting the base end parts of both arm members therebetween as the pivoting axis thereof, resulting in only both of the arm members turning. Therefore, the rotation unit attached to the joint unit via the pivoting member can displace its rotor independently of the displacement of the tip end part of the main arm member. In the present invention, the pivoting member is pivotably coupled to the joint unit and the rotation unit having the rotor is coupled to the pivoting member. The Bricard inversor directly incorporates the Scott Russell's links, replacing the previously required straight line connection and allowing for two exact straight line outputs at right angles. However, a bridge-type mechanism with an external load always works in an energy-inefcient situation due to the storage of strain energy in the exural hinges, which can be validated by the analytical model established in this paper. 38. In the present invention, the rotation unit is coupled to the joint unit. wherein the device comprises a pivoting drive source for driving the pivots of the main arm member and the sub arm member centering on the pivoting axis. Conventionally, various kinds of devices using a Scott Russell mechanism exist. for multi-joint type robot, Gravitation balancing device, articulated robot, and wrist device for robot, IMPROVEMENTS ON PLANE MANIPULATORS WITH FROZEN OR PROGRAMMABLE TRAVEL AT VERY HIGH RATES, Mechanical arm with a 2 freedom-degree wrist attitude regulation mechanism, Exhaust gas purification catalyst and method for producing the same, Motor driven articulated arm with cable capstan including a brake, Robot arm, robot, and robot operation method. The Scott Russell mechanism device of. Further, in the Scott Russell mechanism device according to the present invention, the main arm member and the sub arm member may be pivotable about the virtual straight line as a pivoting axis thereof. [1] [2] a pivoting unit having a pivoting part that is pivotable centering on an axis in parallel to the pivoting axis of the joint unit is coupled to the rotor of the rotation unit. Scott Russell Mechanism - acculasopa Further, when both of the base end parts of both of the arm members are moved in the same direction by the same amount, both of the arm members can be moved entirely while keeping their postures. In the present invention, when the coupling angle is changed so that the base end parts of the main arm member and the sub arm member are most separated from each other, the degree of the curve of the main arm member is defined such that the second section of the main arm member is in a substantially parallel orientation to the linear sub arm member. Application: Creates an approximate straight line . Scott-Russell mechanism: The schematic of a flexure hinge-based Scott-Russell mechanism is depicted in Figure 3. Therefore, compared to the conventional device, a drive torque caused by the turning can be reduced, and both of the arm members can be turned smoothly. The proposed mechanism is applied in an internal materials movement system using autonomous guided vehicles (AGVs) for supporting logistics processes along the supply chain, aiming to replace the current manual operations. Moreover, in the present invention, when the coupling angle is changed so that the base end parts of the main arm member and the sub arm member are most separated from each other, the degree of the curve of the main arm member is defined such that the second section of the main arm member is in a substantially parallel orientation to the linear sub arm member. Priority claimed from JPPCT/JP2011/058124. Any in SPE Disciplines (4) Conference. In the present invention, the joint unit pivotably coupled to the tip end part of the main arm member can be pivoted in the total of two kinds of manners including the pivot cooperating with the angle change between both of the arm members at the coupling position and the pivot independent to the angle change. Therefore, the rotation unit can perform the postural displacement in a different range from the case of coupling in an order different from the above, and the application of the Scott Russell mechanism device according to the present invention further expands. The Scott-Russell mechanismThe structural application of flexure hinges in the SR amplifying mechanism is especially important to practically play an important role in the positioning stage and precision cutting. One such example is Scott-Russell Mechanism as shown in the figure. Furthermore, in the Scott Russell mechanism device according to the present invention, the angle changer may also have a second ball screw arranged in parallel to the first ball screw, and a second linearly-moving unit for being linearly moved by a rotation of the second ball screw. Therefore, the gripping unit can be pivoted proximally to the workpiece which is the gripping target, and the Scott Russell mechanism device including a gripping function suitable for such a gripping application can be provided. The application of the Scott Russell mechanism device according to the present invention expands by attaching various kinds of units corresponding to various applications to its rotor. Therefore, as for the application of the Scott Russell mechanism device according to the present . Schematic of Scott Russell mechanism. | Download Scientific Diagram The connections between links are modeled as providing ideal movement, pure rotation or sliding for example, and are called joints. In the present invention, the rotation unit is coupled to the joint unit. Dynamic modeling of a scott-russell amplifying mechanism driven by a US 9,505,138 B2 device. Furthermore, in the Scott Russell mechanism device according to the present invention, a rotation unit having a rotor may be coupled to the joint unit. Machine Kinematics Question Papers - Sanfoundry For this description to be true the acting length of the short link, the blue one, needs to be half as long as the active length of the green one and the pin that connects them must be . It can be used to form a right-angle change of motion, linear-to-linear. It is possible to generate an exact straight line using the slider crank mechanism but the range of motion is limited. 10, 2015, Germany, 6 pages. Further, when both of the base end parts of both of the arm members are moved in the same direction by the same amount, both of the arm members can be moved entirely while keeping their postures. Moreover, Patent Document 3 discloses a Scott Russell mechanism applied to a drive structure of a feed arm. Ce bouton affiche le type de recherche actuellement slectionn. Jasen Russell sur LinkedIn : The mystery of what's eating our plastic A dialindicator is a precision measuring tool that uses a needle or pointer to display a measurement on a dial. Scott Russell Inventions, Patents and Patent Applications - Justia An axis of the pivot of the pivoting member may be in parallel to the pivoting axis of the joint unit. The length of the link 2 is equal to the distance between points O2 and O4. In the present invention, the gripping unit is attached to the tip end side of the pivoting unit. cylindrical coordinate type or polar coordinate type, GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS, TECHNICAL SUBJECTS COVERED BY FORMER USPC, TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS, TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION, Multiple controlling elements for single controlled element, The United States Of America As Represented By The Secretary Of The Navy, Gilman Engineering & Manufacturing Co., Llc, The Regents Of The University Of Michigan, ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SASAKI, HIROMICHI;SHIMIZU, MIKIO;ICHIKAWA, YASUNORI;REEL/FRAME:031303/0520, PAYMENT OF MAINTENANCE FEE, 4TH YR, SMALL ENTITY (ORIGINAL EVENT CODE: M2551); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY, Motor-driven articulated arm with cable capstan including a brake, Substrate transfer unit, substrate treating apparatus including the same, and substrate treating method, Drive mechanism and manufacturing apparatus, Based on the collapsible explorer mechanical arm of triangle configuration link transmission, Device for carrying out a phase-locked linear displacement of two shafts arranged in parallel, Picking mechanism with metamorphic function, Bending apparatus for material testing and micro-ct imaging, mechanical arm with synchronous belt transmission device, Suitable for the lifting mechanism of disk-like accessory, STRIP CUTTING SYSTEM BY HELICOIDAL KNIVES AND CORRESPONDING CUTTING PROCESS, Motorized manipulator of the cable transmission type having an increased field of action, Scara type robot with counterbalanced arms, Pick and place device having two parallel axes, Improvements in or relating to overhead electric traction systems, Joint structure of arm, etc. All Rights Reserved. Scott-Russell Exact Straight Line Mechanism The complexity of the mechanisms to generate exact straight lines can be reduced by introduction of one or more slider crank linkages. The distance from the pivot driving unit to the joint unit becomes closer, and the transmission mechanism regarding the drive can be coordinated compactly. The Scott Russell mechanism device of. ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SASAKI, HIROMICHI;SHIMIZU, MIKIO;ICHIKAWA, YASUNORI;REEL/FRAME:031303/0431, Free format text: In the present invention, the rotation unit having the rotor is coupled to the joint unit. Debates (Hansard) No. If both ends are turned into sliding connections, you get a Trammel of Archimedes. European Patent Office, Extended European Search Report Issued in Application No. Scott A. Russell has filed for patents to protect the following inventions. 9.8. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. Therefore, even if the main arm member and the sub arm member are not arranged to offset from each other, interference between the arm members at the coupling position of both of the arm members can be subsided, and compared to the conventional device without an offset arrangement, the tip end part of the main arm member can be drawn close to the sub arm member. This mechanism is a modification of modified Scott-Russel'smechanism with the difference that the point Pdoes not slide along a straight line, but moves in a circular arc with centre O. Either one of the base end part of the sub arm member or the base end part of the main arm member may be pivotably coupled to the second linearly-moving unit about the virtual straight line as the pivoting axis thereof. Based on the geometry of the linkage the output motion is a simple sine function of the drive link or a simple harmonic motion. Furthermore, Patent Document 4 discloses a Scott Russell mechanism applied to an industrial robot. Copyright 2022 Bright Hub PM. The application of the Scott Russell mechanism device according to the present invention expands by attaching various kinds of units corresponding to various applications to its rotor. KINEMATICS OF MECHANISMS FROM THE TIME OF WATT, Animation of a Scott-Russell linkage in action, https://en.wikipedia.org/w/index.php?title=Scott_Russell_linkage&oldid=1087282615, Short description is different from Wikidata, Pages using multiple image with auto scaled images, Creative Commons Attribution-ShareAlike License 3.0, This page was last edited on 11 May 2022, at 14:35. Therefore, the rotation unit can perform the postural displacement in a different range from the case of coupling in an order different from the above, and the application of the Scott Russell mechanism device according to the present invention further expands. Machines as simple as livers, machines such as James Watts steam engine and the industrial robots such as PUMA all are composed of mechanisms whether simple, complex or combination of many simple and complex mechanisms. The Scott Russell mechanism device of, 19. In the present invention, the joint unit, the rotation unit, and the pivoting unit are coupled to each other in this order. demonstrated by a study of mechanisms already in existence, such as the linkage of a retractable landing gear, computing mechanisms, mechanisms used in an automobile, and the like. Freemantle straight-line linkage from British Patent 2741, November 17, 1803. Animation of the Scott Russell Linkage attached to a Peaucellier-Lipkin Linkage. A pivoting axis of the pivot of the joint unit may be in parallel to an axis of the pivots of the main arm member and the sub arm member at the coupling position. Therefore, the posture of the joint unit can be controlled freely. Moreover, by providing a pivot driving unit to the main arm member, as well as providing a fourth motor and a drive transmission mechanism unit to the sub arm member, the Scott Russell mechanism device can switch between pivoting the joint unit associatively a change of a coupling angle of the arm members and and pivoting the joint unit by the drive of the fourth motor. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. The device may include a pivot driving unit provided at any portion from the coupling position toward the tip end side of the main arm member and for pivoting the joint unit. Therefore, a plurality of variations can be provided to the method of moving the base end part of both of the arm members, and the tip end part of the main arm member can move flexibly. Moreover, in the Scott Russell mechanism device according to the present invention, a joint unit may be pivotably coupled to the tip end part of the main arm member. PAYMENT OF MAINTENANCE FEE, 4TH YR, SMALL ENTITY (ORIGINAL EVENT CODE: M2551); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY. ARTICULATED MOTORIZED ARM WITH CABESTAN WITH CABLE COMPRISING A BRAKE. Moreover, in the present invention, pivoting member is pivotably coupled to the joint unit and the rotation unit having the rotor is coupled to the pivoting member. It is shown that O is a fixed pin joint, A is the input point to be driven by a PSA, and B is the output point. The construction of this mechanism is such that the point which is connected to the crank moves in a circular path and the point traversing the straight line is selected as the output point. These mechanisms are simple linkage mechanisms with revolute joints, but they can only generate approximate straight lines and that too only for short lengths. It is evident from the figure that this mechanism is made up of isosceles triangles, AB, AC and AO2 are of equal lengths. Scott-Russell mechanism. Moreover, in the present invention, the base end part of either one of the sub arm member or the main arm member is linearly movable by the second ball screw. wherein the device comprises a pivot driving unit provided at any portion from the coupling position toward the tip end side of the main arm member and for pivoting the joint unit. The application of the Scott Russell mechanism device according to the present invention expands by attaching various kinds of units corresponding to various applications to its rotor.. Jasen Russell tendre la recherche. Peaucellier linkage can convert an input circular motion to the exact straight line motion. Note that, a direction of the X-axis illustrated in, About the above-described angle on the coupling position, When the coupling angle between the main arm member, In a case where the main and sub arm members, Therefore, for example, when the second motor M, Note that, in a case where the change of increasing the coupling angle is desired to be performed quickly, the rotations of the first and second motors M, Note that, the rotations of the first and second motors M, Note that, the Scott Russell mechanism device, Moreover, in a case where it is desired to point the gripping unit, Further, regarding the mechanism for pivoting the joint unit, Moreover, with the configuration as described above, it is suitable for the fourth motor M, Moreover, other than the application of gripping, for example, in a case of applying to the application of placing and moving the workpieces, a placing unit or the like is attached instead of the gripping unit, That is, the Scott Russell mechanism device, As for the Scott Russell mechanism device, Note that, also as for the Scott Russell mechanism device, Therefore, also in the third embodiment, similarly to the first embodiment, if the control on the fourth motor by a motor controller (corresponding to a switch means) provided accompanying the Scott Russell mechanism device, According to the configuration above, also as for the Scott Russell mechanism device. The bridge-type mechanism is one of the most widely used displacement ampliers in micro- scale applications. A Unified Approach to Interpreting Model Predictions Scott M. Lundberg, Su-In Lee; Nonbacktracking Bounds on the Influence in Independent Cascade Models Emmanuel Abbe, Sanjeev Kulkarni, Eun Jee Lee; Linear Convergence of a Frank-Wolfe Type Algorithm over Trace-Norm Balls Zeyuan Allen-Zhu, Elad Hazan, Wei Hu, Yuanzhi Li Therefore, since the rotor of the rotation unit can rotate independently of the displacement of the tip end part of the main arm member, the displacement amount of the rotor of the rotation unit coupled to the tip end side of the main arm member can be increased, and the application of the Scott Russell mechanism device according to the present invention further expands. Thus, when the coupling angle is changed so that a base end part of the main arm member and a base end part of the sub arm member are most separated from each other, a tip end part of the main arm member can be moved close to right beside the base end part of the sub arm member. The SR mechanism in combination with a parallelogram mechanism enables. a sub arm member pivotably coupled to the main arm member; and. Picking mechanism with metamorphic function, Bending apparatus for material testing and micro-ct imaging, mechanical arm with synchronous belt transmission device, Suitable for the lifting mechanism of disk-like accessory, STRIP CUTTING SYSTEM BY HELICOIDAL KNIVES AND CORRESPONDING CUTTING PROCESS, Improvements in or relating to overhead electric traction systems, Robot arm for use with injection moulding machine, Joint structure of arm, etc. wherein an angle of the side coupled to the sub arm member on the coupling position is made narrower than 180.

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scott russell mechanism application

scott russell mechanism applicationpalo verde high school darren sweikert

In the present invention, either one of the base end parts of both of the arm members is linearly moved by the rotation of the first ball screw, and the pivots (turnings) of both of the arm members are driven about the virtual straight line connecting the base end parts of both arm members therebetween as the pivoting axis thereof, resulting in only both of the arm members turning. Therefore, the rotation unit attached to the joint unit via the pivoting member can displace its rotor independently of the displacement of the tip end part of the main arm member. In the present invention, the pivoting member is pivotably coupled to the joint unit and the rotation unit having the rotor is coupled to the pivoting member. The Bricard inversor directly incorporates the Scott Russell's links, replacing the previously required straight line connection and allowing for two exact straight line outputs at right angles. However, a bridge-type mechanism with an external load always works in an energy-inefcient situation due to the storage of strain energy in the exural hinges, which can be validated by the analytical model established in this paper. 38. In the present invention, the rotation unit is coupled to the joint unit. wherein the device comprises a pivoting drive source for driving the pivots of the main arm member and the sub arm member centering on the pivoting axis. Conventionally, various kinds of devices using a Scott Russell mechanism exist. for multi-joint type robot, Gravitation balancing device, articulated robot, and wrist device for robot, IMPROVEMENTS ON PLANE MANIPULATORS WITH FROZEN OR PROGRAMMABLE TRAVEL AT VERY HIGH RATES, Mechanical arm with a 2 freedom-degree wrist attitude regulation mechanism, Exhaust gas purification catalyst and method for producing the same, Motor driven articulated arm with cable capstan including a brake, Robot arm, robot, and robot operation method. The Scott Russell mechanism device of. Further, in the Scott Russell mechanism device according to the present invention, the main arm member and the sub arm member may be pivotable about the virtual straight line as a pivoting axis thereof. [1] [2] a pivoting unit having a pivoting part that is pivotable centering on an axis in parallel to the pivoting axis of the joint unit is coupled to the rotor of the rotation unit. Scott Russell Mechanism - acculasopa Further, when both of the base end parts of both of the arm members are moved in the same direction by the same amount, both of the arm members can be moved entirely while keeping their postures. In the present invention, when the coupling angle is changed so that the base end parts of the main arm member and the sub arm member are most separated from each other, the degree of the curve of the main arm member is defined such that the second section of the main arm member is in a substantially parallel orientation to the linear sub arm member. Application: Creates an approximate straight line . Scott-Russell mechanism: The schematic of a flexure hinge-based Scott-Russell mechanism is depicted in Figure 3. Therefore, compared to the conventional device, a drive torque caused by the turning can be reduced, and both of the arm members can be turned smoothly. The proposed mechanism is applied in an internal materials movement system using autonomous guided vehicles (AGVs) for supporting logistics processes along the supply chain, aiming to replace the current manual operations. Moreover, in the present invention, when the coupling angle is changed so that the base end parts of the main arm member and the sub arm member are most separated from each other, the degree of the curve of the main arm member is defined such that the second section of the main arm member is in a substantially parallel orientation to the linear sub arm member. Priority claimed from JPPCT/JP2011/058124. Any in SPE Disciplines (4) Conference. In the present invention, the joint unit pivotably coupled to the tip end part of the main arm member can be pivoted in the total of two kinds of manners including the pivot cooperating with the angle change between both of the arm members at the coupling position and the pivot independent to the angle change. Therefore, the rotation unit can perform the postural displacement in a different range from the case of coupling in an order different from the above, and the application of the Scott Russell mechanism device according to the present invention further expands. The Scott-Russell mechanismThe structural application of flexure hinges in the SR amplifying mechanism is especially important to practically play an important role in the positioning stage and precision cutting. One such example is Scott-Russell Mechanism as shown in the figure. Furthermore, in the Scott Russell mechanism device according to the present invention, the angle changer may also have a second ball screw arranged in parallel to the first ball screw, and a second linearly-moving unit for being linearly moved by a rotation of the second ball screw. Therefore, the gripping unit can be pivoted proximally to the workpiece which is the gripping target, and the Scott Russell mechanism device including a gripping function suitable for such a gripping application can be provided. The application of the Scott Russell mechanism device according to the present invention expands by attaching various kinds of units corresponding to various applications to its rotor. Therefore, as for the application of the Scott Russell mechanism device according to the present . Schematic of Scott Russell mechanism. | Download Scientific Diagram The connections between links are modeled as providing ideal movement, pure rotation or sliding for example, and are called joints. In the present invention, the rotation unit is coupled to the joint unit. Dynamic modeling of a scott-russell amplifying mechanism driven by a US 9,505,138 B2 device. Furthermore, in the Scott Russell mechanism device according to the present invention, a rotation unit having a rotor may be coupled to the joint unit. Machine Kinematics Question Papers - Sanfoundry For this description to be true the acting length of the short link, the blue one, needs to be half as long as the active length of the green one and the pin that connects them must be . It can be used to form a right-angle change of motion, linear-to-linear. It is possible to generate an exact straight line using the slider crank mechanism but the range of motion is limited. 10, 2015, Germany, 6 pages. Further, when both of the base end parts of both of the arm members are moved in the same direction by the same amount, both of the arm members can be moved entirely while keeping their postures. Moreover, Patent Document 3 discloses a Scott Russell mechanism applied to a drive structure of a feed arm. Ce bouton affiche le type de recherche actuellement slectionn. Jasen Russell sur LinkedIn : The mystery of what's eating our plastic A dialindicator is a precision measuring tool that uses a needle or pointer to display a measurement on a dial. Scott Russell Inventions, Patents and Patent Applications - Justia An axis of the pivot of the pivoting member may be in parallel to the pivoting axis of the joint unit. The length of the link 2 is equal to the distance between points O2 and O4. In the present invention, the gripping unit is attached to the tip end side of the pivoting unit. cylindrical coordinate type or polar coordinate type, GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS, TECHNICAL SUBJECTS COVERED BY FORMER USPC, TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS, TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION, Multiple controlling elements for single controlled element, The United States Of America As Represented By The Secretary Of The Navy, Gilman Engineering & Manufacturing Co., Llc, The Regents Of The University Of Michigan, ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SASAKI, HIROMICHI;SHIMIZU, MIKIO;ICHIKAWA, YASUNORI;REEL/FRAME:031303/0520, PAYMENT OF MAINTENANCE FEE, 4TH YR, SMALL ENTITY (ORIGINAL EVENT CODE: M2551); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY, Motor-driven articulated arm with cable capstan including a brake, Substrate transfer unit, substrate treating apparatus including the same, and substrate treating method, Drive mechanism and manufacturing apparatus, Based on the collapsible explorer mechanical arm of triangle configuration link transmission, Device for carrying out a phase-locked linear displacement of two shafts arranged in parallel, Picking mechanism with metamorphic function, Bending apparatus for material testing and micro-ct imaging, mechanical arm with synchronous belt transmission device, Suitable for the lifting mechanism of disk-like accessory, STRIP CUTTING SYSTEM BY HELICOIDAL KNIVES AND CORRESPONDING CUTTING PROCESS, Motorized manipulator of the cable transmission type having an increased field of action, Scara type robot with counterbalanced arms, Pick and place device having two parallel axes, Improvements in or relating to overhead electric traction systems, Joint structure of arm, etc. All Rights Reserved. Scott-Russell Exact Straight Line Mechanism The complexity of the mechanisms to generate exact straight lines can be reduced by introduction of one or more slider crank linkages. The distance from the pivot driving unit to the joint unit becomes closer, and the transmission mechanism regarding the drive can be coordinated compactly. The Scott Russell mechanism device of. ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SASAKI, HIROMICHI;SHIMIZU, MIKIO;ICHIKAWA, YASUNORI;REEL/FRAME:031303/0431, Free format text: In the present invention, the rotation unit having the rotor is coupled to the joint unit. Debates (Hansard) No. If both ends are turned into sliding connections, you get a Trammel of Archimedes. European Patent Office, Extended European Search Report Issued in Application No. Scott A. Russell has filed for patents to protect the following inventions. 9.8. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. Therefore, even if the main arm member and the sub arm member are not arranged to offset from each other, interference between the arm members at the coupling position of both of the arm members can be subsided, and compared to the conventional device without an offset arrangement, the tip end part of the main arm member can be drawn close to the sub arm member. This mechanism is a modification of modified Scott-Russel'smechanism with the difference that the point Pdoes not slide along a straight line, but moves in a circular arc with centre O. Either one of the base end part of the sub arm member or the base end part of the main arm member may be pivotably coupled to the second linearly-moving unit about the virtual straight line as the pivoting axis thereof. Based on the geometry of the linkage the output motion is a simple sine function of the drive link or a simple harmonic motion. Furthermore, Patent Document 4 discloses a Scott Russell mechanism applied to an industrial robot. Copyright 2022 Bright Hub PM. The application of the Scott Russell mechanism device according to the present invention expands by attaching various kinds of units corresponding to various applications to its rotor. KINEMATICS OF MECHANISMS FROM THE TIME OF WATT, Animation of a Scott-Russell linkage in action, https://en.wikipedia.org/w/index.php?title=Scott_Russell_linkage&oldid=1087282615, Short description is different from Wikidata, Pages using multiple image with auto scaled images, Creative Commons Attribution-ShareAlike License 3.0, This page was last edited on 11 May 2022, at 14:35. Therefore, the rotation unit can perform the postural displacement in a different range from the case of coupling in an order different from the above, and the application of the Scott Russell mechanism device according to the present invention further expands. Machines as simple as livers, machines such as James Watts steam engine and the industrial robots such as PUMA all are composed of mechanisms whether simple, complex or combination of many simple and complex mechanisms. The Scott Russell mechanism device of, 19. In the present invention, the joint unit, the rotation unit, and the pivoting unit are coupled to each other in this order. demonstrated by a study of mechanisms already in existence, such as the linkage of a retractable landing gear, computing mechanisms, mechanisms used in an automobile, and the like. Freemantle straight-line linkage from British Patent 2741, November 17, 1803. Animation of the Scott Russell Linkage attached to a Peaucellier-Lipkin Linkage. A pivoting axis of the pivot of the joint unit may be in parallel to an axis of the pivots of the main arm member and the sub arm member at the coupling position. Therefore, the posture of the joint unit can be controlled freely. Moreover, by providing a pivot driving unit to the main arm member, as well as providing a fourth motor and a drive transmission mechanism unit to the sub arm member, the Scott Russell mechanism device can switch between pivoting the joint unit associatively a change of a coupling angle of the arm members and and pivoting the joint unit by the drive of the fourth motor. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. The device may include a pivot driving unit provided at any portion from the coupling position toward the tip end side of the main arm member and for pivoting the joint unit. Therefore, a plurality of variations can be provided to the method of moving the base end part of both of the arm members, and the tip end part of the main arm member can move flexibly. Moreover, in the Scott Russell mechanism device according to the present invention, a joint unit may be pivotably coupled to the tip end part of the main arm member. PAYMENT OF MAINTENANCE FEE, 4TH YR, SMALL ENTITY (ORIGINAL EVENT CODE: M2551); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY. ARTICULATED MOTORIZED ARM WITH CABESTAN WITH CABLE COMPRISING A BRAKE. Moreover, in the present invention, pivoting member is pivotably coupled to the joint unit and the rotation unit having the rotor is coupled to the pivoting member. It is shown that O is a fixed pin joint, A is the input point to be driven by a PSA, and B is the output point. The construction of this mechanism is such that the point which is connected to the crank moves in a circular path and the point traversing the straight line is selected as the output point. These mechanisms are simple linkage mechanisms with revolute joints, but they can only generate approximate straight lines and that too only for short lengths. It is evident from the figure that this mechanism is made up of isosceles triangles, AB, AC and AO2 are of equal lengths. Scott-Russell mechanism. Moreover, in the present invention, the base end part of either one of the sub arm member or the main arm member is linearly movable by the second ball screw. wherein the device comprises a pivot driving unit provided at any portion from the coupling position toward the tip end side of the main arm member and for pivoting the joint unit. The application of the Scott Russell mechanism device according to the present invention expands by attaching various kinds of units corresponding to various applications to its rotor.. Jasen Russell tendre la recherche. Peaucellier linkage can convert an input circular motion to the exact straight line motion. Note that, a direction of the X-axis illustrated in, About the above-described angle on the coupling position, When the coupling angle between the main arm member, In a case where the main and sub arm members, Therefore, for example, when the second motor M, Note that, in a case where the change of increasing the coupling angle is desired to be performed quickly, the rotations of the first and second motors M, Note that, the rotations of the first and second motors M, Note that, the Scott Russell mechanism device, Moreover, in a case where it is desired to point the gripping unit, Further, regarding the mechanism for pivoting the joint unit, Moreover, with the configuration as described above, it is suitable for the fourth motor M, Moreover, other than the application of gripping, for example, in a case of applying to the application of placing and moving the workpieces, a placing unit or the like is attached instead of the gripping unit, That is, the Scott Russell mechanism device, As for the Scott Russell mechanism device, Note that, also as for the Scott Russell mechanism device, Therefore, also in the third embodiment, similarly to the first embodiment, if the control on the fourth motor by a motor controller (corresponding to a switch means) provided accompanying the Scott Russell mechanism device, According to the configuration above, also as for the Scott Russell mechanism device. The bridge-type mechanism is one of the most widely used displacement ampliers in micro- scale applications. A Unified Approach to Interpreting Model Predictions Scott M. Lundberg, Su-In Lee; Nonbacktracking Bounds on the Influence in Independent Cascade Models Emmanuel Abbe, Sanjeev Kulkarni, Eun Jee Lee; Linear Convergence of a Frank-Wolfe Type Algorithm over Trace-Norm Balls Zeyuan Allen-Zhu, Elad Hazan, Wei Hu, Yuanzhi Li Therefore, since the rotor of the rotation unit can rotate independently of the displacement of the tip end part of the main arm member, the displacement amount of the rotor of the rotation unit coupled to the tip end side of the main arm member can be increased, and the application of the Scott Russell mechanism device according to the present invention further expands. Thus, when the coupling angle is changed so that a base end part of the main arm member and a base end part of the sub arm member are most separated from each other, a tip end part of the main arm member can be moved close to right beside the base end part of the sub arm member. The SR mechanism in combination with a parallelogram mechanism enables. a sub arm member pivotably coupled to the main arm member; and. Picking mechanism with metamorphic function, Bending apparatus for material testing and micro-ct imaging, mechanical arm with synchronous belt transmission device, Suitable for the lifting mechanism of disk-like accessory, STRIP CUTTING SYSTEM BY HELICOIDAL KNIVES AND CORRESPONDING CUTTING PROCESS, Improvements in or relating to overhead electric traction systems, Robot arm for use with injection moulding machine, Joint structure of arm, etc. wherein an angle of the side coupled to the sub arm member on the coupling position is made narrower than 180. 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