This paper presents the structural design and analysis of a novel compliant gripper based on the Scott-Russell (SR) mechanism. It is a four bar mechanism and all the pairs are turning pairs as shown in Fig. 10, 2015, Germany, 6 pages. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. Moreover, in the present invention, the gripping unit is attached to the tip end side of the pivoting unit. Assignors: ICHIKAWA, YASUNORI, SASAKI, HIROMICHI, SHIMIZU, MIKIO, HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS, MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES, Programme-controlled manipulators characterised by positioning means for manipulator elements, Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links, MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING, ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL, Gearings comprising primarily only links or levers, with or without slides, Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane, Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for conveying or interconverting oscillating or reciprocating motions, Programme-controlled manipulators characterised by movement of the arms, e.g. The Scott Russell mechanism device of, 14. US9505137B2 - Scott Russell mechanism device - Google Patents US 9,505,138 B2 10 45 . Scott Russell Mechanism - acculasopa Modelling and Simulation of a Straight Line Motion Mechanism for Further, Patent Document 5 discloses a Scott Russell mechanism in a modified example where the coupling between the main arm member and the sub arm member is in a crank shape, the Scott Russell mechanism applied to a transport device. PATENTED CASE, Free format text: All Rights Reserved. Further, Patent Document 2 discloses a Scott Russell mechanism applied to a positioning transport device. 6 Easy Ways to Support (Boost) Your Immune System Naturally 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. Manufacturing methods for gripping devices, robot devices, control methods, control programs, recording media, and articles. Furthermore, a Scott-Russell mechanism and lever mechanism are arranged in series for constituting a two-grade displacement amplifier to conquer the small displacement of PZTs in each axis. [3], The linkage does not share the disadvantages of the asymmetric Panhard rod, and although more compact than Watt's linkage, it has all the forces concentrated in one link.[4]. 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. The device may include a pivoting drive source for driving the pivots of the main arm member and the sub arm member centering on the pivoting axis. The device may include a pivoting mechanism unit for automatically pivoting the joint unit cooperating with the angle change by the angle changer, a pivot driving unit for pivoting the joint unit via the pivoting mechanism unit independently from the angle change by the angle changer. 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. 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. Includes bibliographical references and index. The Scott Russell mechanism device of, 19. 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. One such example is Scott-Russell Mechanism as shown in the figure. 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. Scott Russell mechanism applied to a drive structure of a feed arm. System identification of a Scott-Russell amplifying mechanism with Exact dimensions of scott russell mechanism - caqweoutlet Thus, the degree of posturing freedom of the rotor of the rotation unit positioned to the farthest tip end increases, and the application of the Scott Russell mechanism device according to the present invention further expands. With the industrial robot according to Patent Document 1, a main arm member (the first arm 31 in Patent Document 1) and a sub arm member (the second arm 32 in Patent Document 1) have fixed thicknesses to secure a desired rigidity (have fixed width and thickness dimensions in cross-sections orthogonal to longitudinal directions of both of the arm members), and thus, as base end parts of both of the arm members (end parts on the screw shaft 21 side in Patent Document 1) are spaced from each other, the arm members interfere with each other at a coupling position of both of the arm members, and a problem arises that the tip end part of the main arm member (end part on the side where the holder H is provided in Patent Document 1) cannot be moved proximally to the sub arm member (a problem arises that the holder H is hard to be moved close at hand to the screw shaft 21 side). The locus of the straight line is the same as the travel of the slider for 90 degrees rotation of the crank. Earlier than January, 2018 (2) ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SASAKI, HIROMICHI;SHIMIZU, MIKIO;ICHIKAWA, YASUNORI;REEL/FRAME:031303/0520, Free format text: Moreover, in the Scott Russell mechanism device according to the present invention, a pivoting member may be pivotably coupled to the joint 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. Simply download our free CAD . 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. 19, 2012, WIPO, 4 pages. 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. Further, in the Scott Russell mechanism device according to the present invention, a gripping unit may be attached to a tip end side of the pivoting unit. It consists of both sliding and turning pairs Download Solution PDF Share on Whatsapp Scott_Russell_Straight_Line_Generator / www.inventhp.com 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. 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. wherein an axis of the pivot of the pivoting member is in parallel to the pivoting axis of the joint unit, and. New Structural Design of a Compliant Gripper Based on the Scott-Russell Theory of Machines and Mechanisms - John J. Uicker 2003 This work is a supplement to accompany the authors' main text. Owner name: This mecha- tion of point E, as shown in Figure 2 (a) [8-10]. Scott Russell linkage - Wikipedia New Structural Design of a Compliant Gripper Based on the Scott-Russell Furthermore, Patent Document 4 discloses a Scott Russell mechanism applied to an industrial robot. In the present invention, the gripping unit is attached to the rotor of the rotation unit. 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. 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 present invention can be switched, as for the joint unit attached to the tip end of the main arm, to the total of two ways of pivoting including the pivot cooperating with the angle change of the arm members at the coupling position and the pivot independent from the angle change, and thus the Scott Russell mechanism device can suitably be used for various applications. 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. 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. Peaucellier linkage can convert an input circular motion to the exact straight line motion. 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. 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. Freemantle straight-line linkage from British Patent 2741, November 17, 1803. The connections between links are modeled as providing ideal movement, pure rotation or sliding for example, and are called joints. The optimally-designed stage was fabricated by wire electrical discharge machining and tested to investigate its performance. CORROSION 2003 (1) CORROSION 2004 (1) International Petroleum Technology Conference (1) Offshore Technology Conference Asia (1) Publisher. Further, Patent Document 5 discloses a Scott Russell mechanism in a modified example where the coupling between the main arm member and the sub arm member is in a crank shape, the Scott Russell mechanism applied to a transport device. In the present invention, the joint unit, the rotation unit, and the pivoting unit are coupled to each other in this order. In this mechanism, the slider is replaced by a link traveling . 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. In the present invention, the main arm member is formed into the boomerang-like shape to detour to the opposite side of the side where the sub arm member is positioned. SQUSE INC., JAPAN, Free format text: The Evans 'grasshopper' linkage is a variant of a Scott Russell linkage which uses a long link to create a large enough arc to approximate a line. Straight and Parallel line Mechanism - Studocu 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. Scott Russell Mechanism 2 | PDF | Line (Geometry) | Acceleration - Scribd European Patent Office, Extended European Search Report Issued in Application No. Library of Congress Cataloging-in-Publication Data Russell, Stuart J. Stuart J. Russell and Peter Norvig Upper Saddle River, New Jersey 07458. Conventionally, various kinds of devices using a Scott Russell mechanism exist. 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. Exact Straight Line Mechanisms - Peaucellier linkage and Scott-Russell 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. 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. Mechatronic System Using a Straight-Line Motion Mechanism for AGV 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. Any in SPE Disciplines (4) Conference. cylindrical coordinate type or polar coordinate type, Programme-controlled manipulators characterised by positioning means for manipulator elements, Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links, MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING, ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL, Gearings comprising primarily only links or levers, with or without slides, Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane, Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for conveying or interconverting oscillating or reciprocating motions, 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, United Kingdom Atomic Energy Authority, London, Gilman Engineering & Manufacturing Co., Llc, The United States Of America As Represented By The Secretary Of The Navy, The Regents Of The University Of Michigan. One of the ends is then connected to something that can generate linear motion, such as a rolling or sliding connection, or another straight line mechanism. With the Scott Russell mechanism device, a moving range of the tip end side of the main arm member can be enlarged. wherein 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, and a first distance from the base end part of the main arm member to a coupling position of the main arm member to the sub arm member, a second distance from the coupling position of the main arm member to a tip end part thereof, and a third distance from the base end part of the sub arm member to the coupling position are equal to each other. 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. The bridge-type mechanism is one of the most widely used displacement ampliers in micro- scale applications. Application: this is a mechanism for connecting two shafts having parallel misalignment. Owner name: PDF Machines And Mechanisms 4th Edition Solution Manual ; Cgeprginia 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. The resonant frequency was improved by embedding a Scott-Russell mechanism [ 31 ]. 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. The Scott-Russell (SR) amplifying mechanism [1] is designed for a cutting tool to amplify the PA displacement and carry out high precision for the motion control system. Scott Russell Inventions, Patents and Patent Applications - Justia Therefore, a plurality of variations can be provided to the method of moving the base end part of both of the arm members, resulting in being able to flexibly perform the moving of the tip end part of the main arm member. This paper will discuss the mechanical design theoretical modeling and analyses, finite element analysis and experimental verification. These mechanisms are governed by Kinematics the study of geometry and motion. The design criteria of the Scott-Russell mechanism are to achieve large amplification factor and minimum motion deviation. Note that, the substantially parallel angle means that it does not require an accurate parallelism with respect to the sub arm member but includes a slight angle variation, and in the present invention, the substantially parallel angle can be said to be parallel as long as it is within a range of 10 with respect to the axis of the sub arm member in the longitude direction (also in other parts of description a variation range of 10 with respect to the accurate parallelism is included in the meaning of the phrase substantially parallel). HVAC: Heating, Ventilation & Air-Conditioning, Peaucellier Exact Straight Line Mechanism, Scott-Russell Exact Straight Line Mechanism, This post is part of the series: Kinematics - Design of Mechanisms, How to Calculate Cement, Sand and Aggregates in a Beam | Step by Step, Kinematics - Design of Mechanisms: Introduction, Kinematics Design of Mechanisms: Kinematic Inversion, Kinematics Actuation of Machines: Part I Electrical Actuation, Kinematics Actuation of Machines: Part II Hydraulic Actuation, Kinematics Actuation of Machines: Part III Pneumatic Actuation, Kinematics - Analysis of Mechanisms: Methods and Techniques, Kinematics - Synthesis of Mechanisms: Methods and Techniques, Kinematics - Special Mechanisms: Straight Line Mechanisms - II. An interesting mechanism to consider in designing leverage devices with flextensional joints is the Scott -Russel, also known as half beam mechanism, which is described geometrically in Fig.. 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. Scott-Russell variation #1. wherein the main arm member is formed linearly in a first section extending from the base end part to the part corresponding to the coupling position and in a second section extending from the part corresponding to the coupling position to the tip end part, and the part corresponding to the coupling position is curved, and. Scott Russel | eMachineShop PAYMENT OF MAINTENANCE FEE, 4TH YR, SMALL ENTITY (ORIGINAL EVENT CODE: M2551); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY. Therefore, the application of the Scott Russell mechanism device according to the present invention expands. Straight Line Mechanisms | iamchaitanya 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. SCOTT RUSSEL MECHANISM [THEORY OF MACHINES] - YouTube 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. 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.
How To Turn On Night Vision Ark Tek Helmet, Stephens County Jail Mugshots, Legacy High School Football, Baysider Newspaper Alton Nh, Articles S