CA1034393A - Powered wrist joint - Google Patents

Powered wrist joint

Info

Publication number
CA1034393A
CA1034393A CA263,271A CA263271A CA1034393A CA 1034393 A CA1034393 A CA 1034393A CA 263271 A CA263271 A CA 263271A CA 1034393 A CA1034393 A CA 1034393A
Authority
CA
Canada
Prior art keywords
wrist joint
powered wrist
powered
joint
wrist
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
CA263,271A
Other languages
English (en)
French (fr)
Inventor
Henry J. Taylor
Philip N. P. Ibbotson
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Spar Aerospace Products Ltd
Original Assignee
Spar Aerospace Products Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Spar Aerospace Products Ltd filed Critical Spar Aerospace Products Ltd
Priority to CA263,271A priority Critical patent/CA1034393A/en
Priority to US05/732,733 priority patent/US4073201A/en
Priority to GB40948/77A priority patent/GB1560181A/en
Priority to DE19772744903 priority patent/DE2744903A1/de
Priority to JP12229277A priority patent/JPS5347700A/ja
Priority to NO773477A priority patent/NO144822C/no
Priority to SE7711485A priority patent/SE421897B/xx
Priority to FR7730812A priority patent/FR2367578A1/fr
Application granted granted Critical
Publication of CA1034393A publication Critical patent/CA1034393A/en
Expired legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G4/00—Tools specially adapted for use in space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1025—Harmonic drives
    • Y—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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/19—Gearing
    • Y10T74/19023—Plural power paths to and/or from gearing
    • Y10T74/19126—Plural drivers plural driven
    • Y—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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/19—Gearing
    • Y10T74/19023—Plural power paths to and/or from gearing
    • Y10T74/19144—Miscellaneous [plural power paths]
    • Y—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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
CA263,271A 1976-10-13 1976-10-13 Powered wrist joint Expired CA1034393A (en)

Priority Applications (8)

Application Number Priority Date Filing Date Title
CA263,271A CA1034393A (en) 1976-10-13 1976-10-13 Powered wrist joint
US05/732,733 US4073201A (en) 1976-10-13 1976-10-15 Powered wrist joint
GB40948/77A GB1560181A (en) 1976-10-13 1977-10-03 Powered wrist joint
DE19772744903 DE2744903A1 (de) 1976-10-13 1977-10-06 Kraftgetriebene gelenkverbindung
JP12229277A JPS5347700A (en) 1976-10-13 1977-10-12 Powered wrist joint
NO773477A NO144822C (no) 1976-10-13 1977-10-12 Kraftdrevet haandleddskjoet.
SE7711485A SE421897B (sv) 1976-10-13 1977-10-12 Universalled med drivning
FR7730812A FR2367578A1 (fr) 1976-10-13 1977-10-13 Cardan motorise

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CA263,271A CA1034393A (en) 1976-10-13 1976-10-13 Powered wrist joint
US05/732,733 US4073201A (en) 1976-10-13 1976-10-15 Powered wrist joint

Publications (1)

Publication Number Publication Date
CA1034393A true CA1034393A (en) 1978-07-11

Family

ID=25668374

Family Applications (1)

Application Number Title Priority Date Filing Date
CA263,271A Expired CA1034393A (en) 1976-10-13 1976-10-13 Powered wrist joint

Country Status (7)

Country Link
US (1) US4073201A (de)
JP (1) JPS5347700A (de)
CA (1) CA1034393A (de)
DE (1) DE2744903A1 (de)
FR (1) FR2367578A1 (de)
GB (1) GB1560181A (de)
SE (1) SE421897B (de)

Families Citing this family (38)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2724004C2 (de) * 1977-05-27 1985-10-24 Teldix Gmbh, 6900 Heidelberg Rahmensystem
US4173324A (en) * 1978-05-19 1979-11-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Coupling device for moving vehicles
US4318522A (en) * 1979-05-01 1982-03-09 Rockwell International Corporation Gimbal mechanism
JPS5844194U (ja) * 1981-09-21 1983-03-24 大日機工株式会社 産業用ロボツト
JPS5851090A (ja) * 1981-09-21 1983-03-25 株式会社東芝 関節装置
JPS58126090A (ja) * 1982-01-18 1983-07-27 株式会社神戸製鋼所 多関節腕機構
JPS58211891A (ja) * 1982-05-31 1983-12-09 松下電器産業株式会社 工業用ロボツト
FR2534176A1 (fr) * 1982-10-11 1984-04-13 Pharemme Avant-bras de robot a pince double
FR2537301B1 (fr) * 1982-12-07 1986-01-24 France Etat Convertisseur electro-mecanique a plusieurs degres de liberte
JPS59166478A (ja) * 1983-03-10 1984-09-19 三菱電機株式会社 産業用ロボツト
DE8310054U1 (de) * 1983-04-06 1986-02-27 Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Robotergelenk
DE3312404A1 (de) * 1983-04-06 1984-10-18 Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Robotergelenk
EP0394225A4 (en) * 1984-04-12 1991-10-30 Mark E. Rosheim Wrist actuator
US4723460A (en) * 1984-04-12 1988-02-09 Rosheim Mark E Robot wrist actuator
DE3423432C2 (de) * 1984-06-26 1986-06-12 Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln Vorrichtung zur Positionierung einer Probe
FR2576378A1 (fr) * 1985-01-21 1986-07-25 Stanik Carol Rotule motorisee
GB8501654D0 (en) * 1985-01-23 1985-02-27 Emi Ltd Compliant coupling mechanism
US4628765A (en) * 1985-02-27 1986-12-16 Rensselaer Polytechnic Institute Spherical robotic wrist joint
CA1273379A (en) * 1986-01-21 1990-08-28 Mark E. Rosheim Wrist tendon actuator
US4804220A (en) * 1986-01-21 1989-02-14 Rosheim Mark E Wrist tendon actuator
US4778332A (en) * 1987-02-09 1988-10-18 The Perkin-Elmer Corporation Wafer flip apparatus
FR2620837B1 (fr) * 1987-09-21 1990-11-30 Commissariat Energie Atomique Dispositif d'orientation d'un objet autour de deux axes de rotation
US4878393A (en) * 1988-05-27 1989-11-07 Oprea Duta Dextrous spherical robot wrist
US4821594A (en) * 1988-06-10 1989-04-18 Mark E. Rosheim Robot joints
FR2635077B1 (fr) * 1988-08-08 1990-11-09 Aerospatiale Articulation auto-motorisee, sans frottement, et ensemble articule tel qu'un panneau solaire de satellite equipe de telles articulations
FR2653761B1 (fr) * 1989-10-27 1992-01-10 Potain Sa Robot manipulateur de grande dimension et de forte capacite pour utilisation en milieu ouvert.
US5239883A (en) * 1991-09-26 1993-08-31 Rosheim Mark E Modular robot wrist
US5243873A (en) * 1992-01-23 1993-09-14 Honeywell Inc. Two-axis motion mechanism
US6026703A (en) * 1997-08-14 2000-02-22 Stanisic; Michael M. Dexterous split equator joint
EP1735213B1 (de) * 2004-04-08 2015-03-11 Astrium Limited Entfaltbarer ausleger
CN100544904C (zh) * 2007-11-09 2009-09-30 燕山大学 实现屈曲和旋转运动的机器人的肘关节
DE102009017581B4 (de) * 2009-04-18 2021-06-24 Igus Gmbh Mehrachsengelenk insbesondere für die Robotik
US8498741B2 (en) * 2009-09-22 2013-07-30 Gm Global Technology Operations Dexterous humanoid robotic wrist
DE102012105313A1 (de) * 2012-06-19 2013-12-19 Technische Universität München Agiles, angetriebenes Gelenk mit drei Freiheitsgraden
FR2997384B1 (fr) 2012-10-26 2016-09-16 Thales Sa Systeme de motorisation pour articulation a moyens d'enroulement croises a roulement fiabilise
FR3105180B1 (fr) * 2019-12-18 2021-12-24 Airbus Defence & Space Sas Dispositif d’orientation d’une charge selon deux axes de rotation orthogonaux
CN111022866B (zh) * 2019-12-30 2021-07-30 深圳瑞尔康生物科技股份有限公司 一种全方位扫描工具
CN111301725B (zh) * 2020-03-20 2021-09-17 上海大学 一种机械腕的配平结构及配平方法

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2899677A (en) * 1953-07-27 1959-08-11 rockall
US3164340A (en) * 1957-03-04 1965-01-05 North American Aviation Inc Inertial guidance system using vehicle fixed inertial elements
US3229941A (en) * 1962-06-04 1966-01-18 Suliteanu Menahem Antenna support
US3166949A (en) * 1964-04-09 1965-01-26 Roger H Lapp Harmonic drive adjusting means
US3541561A (en) * 1968-04-17 1970-11-17 Dynell Elec High-speed scanner in which a feed arm is pivotally mounted with and angularly movable from a complementary counter-balance arm
US3610438A (en) * 1970-03-16 1971-10-05 Westinghouse Electric Corp Manipulator arm
US3626769A (en) * 1970-04-06 1971-12-14 Ibm Apparatus for positioning workpieces in selected translational and rotational orientations
US3691864A (en) * 1970-11-19 1972-09-19 Ibm X-y rotational positioning system
US3765631A (en) * 1971-08-06 1973-10-16 Lord Corp Resilient gimbal mounting
DE2226407C3 (de) * 1972-05-31 1978-10-12 Industrie-Werke Karlsruhe Augsburg Ag, 7500 Karlsruhe Gerät zur maschinellen, durch veränderbare Programme steuerbaren Handreichung
US4006645A (en) * 1974-09-26 1977-02-08 The Perkin-Elmer Corporation X, Y, θ alignment mechanism

Also Published As

Publication number Publication date
SE7711485L (sv) 1978-04-14
JPS5347700A (en) 1978-04-28
SE421897B (sv) 1982-02-08
FR2367578A1 (fr) 1978-05-12
GB1560181A (en) 1980-01-30
FR2367578B1 (de) 1983-06-03
US4073201A (en) 1978-02-14
DE2744903A1 (de) 1978-04-20

Similar Documents

Publication Publication Date Title
CA1034393A (en) Powered wrist joint
AU504763B2 (en) Endoprosthetic wrist joint
AU523824B2 (en) Pivot joint
AU513543B2 (en) Universal joint
JPS52115963A (en) Balllanddsocket joint
AU501715B2 (en) Reinforcement joint
AU510661B2 (en) T-shaped structural joint
AU513284B2 (en) Universal joint
JPS5338859A (en) Balllanddsocket joint
JPS52113456A (en) Joint unit
AU506234B2 (en) Power take off universal joint
AU504509B2 (en) Lightweight stethoscope
JPS5363793A (en) Joint
JPS52136414A (en) Quickkacting joint
SU646133A1 (ru) Шарнирное соединение трубопроводов
SU580372A1 (ru) Заклепочное соединение
SU588402A1 (ru) Быстроразьемное соединение
SU594355A1 (ru) Карданный шарнир
SU588317A1 (ru) Стыковое соединение
AU491084B2 (en) Structural joint assembly
AU511591B2 (en) Scaffolding joint
AU508552B2 (en) Flexible coupling
JPS52144117A (en) Joint
AU507639B2 (en) Universal joint
JPS5294964A (en) Fastener joint