Freemantle straight-line linkage from British Patent 2741, November 17, 1803. 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. In the present invention, the rotation unit is coupled to the joint unit. 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. You can help Wikipedia by expanding it. Therefore, the posture of the joint unit can be controlled freely. 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. The SR mechanism in combination with a parallelogram mechanism enables the achievement of a pure translation of the gripper tips, which is attractive for practical micromanipulation and microassembly applications. 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. Therefore, the application of the Scott Russell mechanism device according to the present invention expands. Jasen Russell tendre la recherche. However, since both of the arm members are arranged offset from each other in the overlapped direction, a problem arises that the thickness dimension (dimension in the direction overlapping both of the arm members) of the device increases, and since the centers of both of the arm members in the thickness direction do not match with each other, a problem also arises that the balance in weight degrades in both of the entire arm members. In the present invention, the gripping unit is attached to the tip end side of the pivoting unit. In the present invention, the pivoting of the joint unit pivotably coupled to the tip end part of the main arm member is driven by the pivot driving unit. This paper presents the structural design and analysis of a novel compliant gripper based on the Scott-Russell (SR) mechanism. By the constraints of the geometry point A moves in a circular path and as the point A moves in a circle point P traverses an exact straight line path normal to the line joining O2 and O4.if(typeof ez_ad_units!='undefined'){ez_ad_units.push([[300,250],'brighthubengineering_com-large-mobile-banner-1','ezslot_14',174,'0','0'])};__ez_fad_position('div-gpt-ad-brighthubengineering_com-large-mobile-banner-1-0'); From the construction of the Peaucellier linkage it is clear that this is a much more complex mechanism than the mechanisms generating approximate straight lines, which were simple four bar linkages. Since the postures of these units on the tip end side depend on the direction (posture) of the tip end of the main arm member, a problem arises that a range in which the postures of the units attached to the tip end of the main arm member can be changed is limited. 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. 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. This paper presents the structural design and analysis of a novel compliant gripper based on the Scott-Russell (SR) mechanism. Conventionally, various kinds of devices using a Scott Russell mechanism exist. 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 requirements of the design are identified and the modelling phases of the mechanism are described. Therefore, the gripping (chucking) flexibly responding to the orientation of a workpiece as a gripping target can be performed by the rotor of the rotation unit of which the amount of the postural displacement is increased, and the Scott Russell mechanism device according to the present invention can suitably be used for the gripping application. PAYMENT OF MAINTENANCE FEE, 4TH YR, SMALL ENTITY (ORIGINAL EVENT CODE: M2551); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY. Based on the geometry of the linkage the output motion is a simple sine function of the drive link or a simple harmonic motion. wherein the main arm member and the sub arm member are pivotable about the virtual straight line as a pivoting axis thereof, the angle changer including: a first ball screw arranged in parallel to the virtual straight line; and, a first linearly-moving unit for being linearly moved by a rotation of the first ball screw, and, wherein either one of the base end part of the main arm member or the base end part of the sub arm member is pivotably coupled to the first linearly-moving unit about the virtual straight line as the pivoting axis thereof, and. Moreover, in each of the above-described patent documents, various kinds of units, such as the holder, the arm, and the hand, are attached to the tip end of the main arm member. Part of the Lecture Notes in Electrical Engineering book series (LNEE,volume 505) Abstract This paper describes the design of an exact straight line motion mechanism, commonly known as a Scott-Russell mechanism (SRM), for industrial application. The present invention is made in view of the above situations, and aims to provide a Scott Russell mechanism device that allows a main arm member and a sub arm member to pivot at a base end part of both of the arm members to reduce a drive torque for turning both of the arm members, and to increase the degree of freedom in postures of various kinds of units attached to a tip end of the main arm member compared to the conventional degree. The Scott Russell mechanism device of, 18. This mechanism is called as Peaucellier Exact Straight Line Mechanism and commonly more as Peaucelliers linkage. 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. 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. Animation of the Scott Russell Linkage attached to a Peaucellier-Lipkin Linkage. Furthermore, in the Scott Russell mechanism device according to the present invention, a base end part of the main arm member and a base end part of the sub arm member that is on the opposite side from the coupling side of the sub arm member are positioned on the same virtual straight line. an angle changer for changing a coupling angle between the main arm member and the sub arm member, wherein a joint unit is pivotably coupled to the tip end part of the main arm member, and, wherein a pivoting axis of the pivot of the joint unit is in parallel to an axis of the pivots of the main arm member and the sub arm member at the coupling position, and, a pivoting mechanism unit for automatically pivoting the joint unit cooperating with the angle change by the angle changer; and. A rotation unit having a rotor may be coupled to the pivoting member. Campbell, Scott SPE Disciplines. 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. The Scott-Russell mechanism gives a theoretically linear motion by using a linkage form with three portions of the links all equal, and a rolling or sliding connection. Further, Patent Document 2 discloses a Scott Russell mechanism applied to a positioning transport device. The bridge-type mechanism is one of the most widely used displacement ampliers in micro- scale applications. Further, as for the positioning transport device according to Patent Document 2, the drive structure of the feed arm according to Patent Document 3, the industrial robot according to the Patent Document 4, and the transport device according to Patent Document 5, the main arm member and the sub arm member are overlapped on and coupled to each other in a thickness direction, and thus, the tip end part of the main arm member is easily drawn proximally to the sub arm member. Scott-Russell Mechanism. In the present invention, the gripping unit is attached to the tip end side of the pivoting unit. Moreover, in the present invention, the pivot of the joint unit pivotably coupled to the tip end part of the main arm member is driven by the pivot driving unit. In the present invention, the joint unit, the rotation unit, and the pivoting unit are coupled to each other in this order. Owner name: Manufacturing methods for gripping devices, robot devices, control methods, control programs, recording media, and articles. Therefore, by the rotor of the rotation unit where the amount of the postural displacement is increased compared to the conventional device, the Scott Russell mechanism device according to the present invention can be applied to the application of performing the gripping while flexibly responding to the orientation of a workpiece as a gripping target. In order to solve the above problem, a Scott Russell mechanism device according to the present invention includes a main arm member, a sub arm member pivotably coupled to the main arm member, and an angle changer for changing a coupling angle between the main arm member and the sub arm member. 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. Further, in the Scott Russell mechanism device according to the present invention, a gripping unit may be attached to the rotor of the rotation unit. 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. PATENTED CASE, Free format text: Therefore, the gripping unit can be pivoted proximally to the workpiece which is the gripping target, and the Scott Russell mechanism device including a griping function suitable for such a gripping application can be provided. The Scott Russell mechanism device of. Moreover, in the Scott Russell mechanism device according to the present invention, a pivoting member may be pivotably coupled to the joint unit. cartesian coordinate type, Programme-controlled manipulators characterised by movement of the arms, e.g. The present invention can suitably be used for, for example, the gripping application, placing application, transportation application in which it is requested to bring the tip end part of the main arm member close to right beside the base end part of the sub arm member. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO). As detailed in the previous articles there are many four bar linkage based mechanisms which can generate straight lines. Scott Russell mechanism developed by John Scott Russell (1808-1882), although already patented in 1803 by watchmaker William Freemantle, gives a theoretically linear motion by using a linkage form with three portions of the links all equal, and a rolling or sliding connection. The length of the link 2 is equal to the distance between points O2 and O4. 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. Until recently, This paper describes the development of a gecko-inspired robotic gripper for grasping flat objects using Scott-Russell mechanisms. Furthermore, Patent Document 4 discloses a Scott . Specifically, the tip end part of the main arm member can be moved by only moving the base end part of the main arm member, by only moving the base end part of the sub arm member, or by moving both of the base end parts of both of the arm members, respectively. mechanism of machinery straight and parallel line mechanism table of contents straight line mechanism introduction history different mechanism used for If both ends are turned into sliding connections, you get a Trammel of Archimedes. 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. CORROSION 2003 (1) CORROSION 2004 (1) International Petroleum Technology Conference (1) Offshore Technology Conference Asia (1) Publisher. Therefore, the gripping (chucking) flexibly responding to the orientation of a workpiece as a gripping target can be performed by the rotor of the rotation unit of which the amount of the postural displacement is increased, and the Scott Russell mechanism device according to the present invention can suitably be used for the gripping application. A Scott Russell mechanism device pivotably couples a main arm member and a sub arm member to each other, as well as it pivotably couples a joint unit to a tip end part of the main arm member. 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. 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. A rotation unit having a rotor may be coupled to the pivoting member. Japanese Patent Office, International Search Report of PCT/JP2011/058124, Jun. 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. This mecha- tion of point E, as shown in Figure 2 (a) [8-10]. Furthermore, Patent Document 4 discloses a Scott Russell mechanism applied to an industrial robot. A Scott Russell mechanism device is formed into a boomerang-like shape such that a main arm member coupled to a sub arm member is curved to detour a coupling position. Scott Russell Business Consultant Santa Barbara, California, United States 2K followers 500+ connections Join to connect Proactivate Consulting LLC About A Senior Business Executive with a. Therefore, as for the application of the Scott Russell mechanism device according to the present . ARTICULATED MOTORIZED ARM WITH CABESTAN WITH CABLE COMPRISING A BRAKE. It is a four bar mechanism and all the pairs are turning pairs as shown in Fig. Stuart J. Russell and Peter Norvig Upper Saddle River, New Jersey 07458. The linkage is composed of two links. wherein a rotation unit having a rotor is coupled to the pivoting member. In the present invention, the gripping unit is attached to the rotor of the rotation unit. An axis of the pivot of the pivoting member may be in parallel to the pivoting axis of the joint unit. 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. A Scott Russell mechanism is a mechanism where a linear main arm member is pivotably coupled to a sub arm member, a distance from a base end part of the main arm member to a coupling position thereof, a distance from the coupling position of the main arm member to a tip end part thereof, and a distance from a coupling position of the sub arm member to a base end part thereof are all equal to each other, and in a case where a coupling angle between both of the arm members is changed, the tip end part of the main arm member linearly moves along a straight line connecting the tip end part of the main arm member and the based end part of the sub arm member. Scott Russell has filed for patents to protect the following inventions. 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. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). 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, and, wherein either one of the base end part of the sub arm member or the base end part of the main arm member is pivotably coupled to the second linearly-moving unit about the virtual straight line as the pivoting axis thereof. These displacement amplifier mechanisms often have a proper amplification ratio capable of large working strokes; however, their low resonant frequency limits their application in high-performance jet dispensers. SQUSE INC., JAPAN, Free format text: 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. Moreover, in each of the above-described patent documents, various kinds of units, such as the holder, the arm, and the hand, are attached to the tip end of the main arm member. Machine Kinematics Questions and Answers - Application of Kutzbach Criterion to Plane Mechanisms ; advertisement. The present invention is made in view of the above situations, and aims to provide a Scott Russell mechanism device that is capable of drawing close to a tip end part of a main arm member proximally to a sub arm member by forming the main arm member into a boomerang-like shape without arranging both of the arm members offset from each other. Here is a sampling of five herbs that have demonstrated potential immune support benefits: 1. One link is double the size of the other, and is connected to the smaller link by its midpoint. In the present invention, the joint unit pivotably coupled to the tip end part of the main arm member can be pivoted in a 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 of the angle change. As point A moves vertically, point B moves horizontally. 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. an angle changer for changing a coupling angle between the main arm member and the sub arm member. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO). Scott A. Russell has filed for patents to protect the following inventions. It can be used to form a right-angle change of motion, linear-to-linear. The First World War brought about much destruction and horror to extents that the world had never before seen. Therefore, compared to the case of coupling the units in an order different from above, the pivoting unit positioned at the farthest tip end can perform the postural displacement in a different range. for multi-joint type robot, Gravitation balancing device, articulated robot, and wrist device for robot, Manipulator with flat or three-dimensional trajectory suitable for high operating rate, Mechanical arm with a 2 freedom-degree wrist attitude regulation mechanism, Exhaust gas purification catalyst and method for producing the same, Motor-driven device for moving workpieces, Pick and place device having two parallel axes, Scara type robot with counterbalanced arms, Manipulator, manufacturing machine and production line using the same. 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 . IPTC (1) NACE (2) OTC (1) Date. The present invention relates to a device applied with a Scott Russell mechanism where a main arm member and a sub arm member are coupled to each other and a coupling angle therebetween is changeable, and particularly relates to a Scott Russell mechanism device that can attach units to the tip end side of the main arm member and change postures of the units variously. This mechanism has eight members and six joints.if(typeof ez_ad_units!='undefined'){ez_ad_units.push([[250,250],'brighthubengineering_com-large-mobile-banner-2','ezslot_15',179,'0','0'])};__ez_fad_position('div-gpt-ad-brighthubengineering_com-large-mobile-banner-2-0'); The complexity of the mechanisms to generate exact straight lines can be reduced by introduction of one or more slider crank linkages. These mechanisms are simple linkage mechanisms with revolute joints, but they can only generate approximate straight lines and that too only for short lengths. SCOTT RUSSEL MECHANISM [THEORY OF MACHINES] 1,251 views Sep 9, 2018 A Scott Russell linkage gives a theoretically linear motion by using a linkage form with three portions of the links all. Therefore, the gripping unit can be pivoted proximally to the workpiece which is the gripping target, and the Scott Russell mechanism device including a griping function suitable for such a gripping application can be provided. Il permet de dtailler la liste des options de recherche, qui modifieront les termes saisis pour correspondre la slection actuelle.
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