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. Therefore, the first ball screw will be excluded from the turning targets, compared to the turnings of both of the arm members of the industrial robot relating to the reference document 1 described above, a drive torque caused by the turn is reduced, and both of the arm members can be turned smoothly. 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. Copyright 2022 Bright Hub PM. SQUSE INC., JAPAN, Free format text: Furthermore, Patent Document 4 discloses a Scott Russell mechanism applied to an industrial robot. 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. 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. The connections between links are modeled as providing ideal movement, pure rotation or sliding for example, and are called joints. (Stuart Jonathan) Instructor's solution manual for artificial intelligence : a modern approach (second edition) / Stuart Russell, Peter Norvig. The point A of the rhombus is connect to fixed point O2 through the link 2. Theory of Machines and Mechanisms - John J. Uicker 2003 This work is a supplement to accompany the authors' main text. 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. Scott Russell mechanism applied to a drive structure of a feed arm. In the present invention, the gripping unit is attached to the tip end side of the pivoting unit. In order to solve the above problem, a 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. The Scott Russell mechanism device of, 14. 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. 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. US 9,505,138 B2 10 45 . Peaucellier linkage can convert an input circular motion to the exact straight line motion. 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). 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. Scott-Russell variation #1. The Scott Russell mechanism device of, 16. 19, 2012, WIPO, 4 pages. In this mechanism, the centres Oand O1 are fixed.. 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. mechanism of machinery straight and parallel line mechanism table of contents straight line mechanism introduction history different mechanism used for 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. 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. Manufacturing methods for gripping devices, robot devices, control methods, control programs, recording media, and articles. Owner name: 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. 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 a rotation unit having a rotor is coupled to the pivoting member. 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 of the angle change. Conventionally, various kinds of devices using a Scott Russell mechanism exist. The Scott Russell mechanism device of. 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. An 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. The Scott Russell mechanism device of, 13. 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. Moreover, Patent Document 3 discloses a Scott Russell mechanism applied to a drive structure of a feed arm. Lever Mechanisms," Published in "Mechanisms in Modern Engineering Design, Drive mechanism and manufacturing apparatus, Based on the collapsible explorer mechanical arm of triangle configuration link transmission, unit for transferring a substrate and apparatus and method for treating the substrate with the unit, Device for carrying out a phase-locked linear displacement of two shafts arranged in parallel. 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. Moreover, with the industrial robot according to Patent Document 1, both of the arm members are rotated (turned) about the screw shaft 21 as a rotation center (turning center), then all of the industrial robot including the screw shaft 21 is turned, and thus a problem arises that a drive torque for the turning increases. This paper presents the structural design and analysis of a novel compliant gripper based on the Scott-Russell (SR) mechanism. 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. European Patent Office, Extended European Search Report Issued in Application No. 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. 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 movement of the arms, e.g. 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. 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. PATENTED CASE, Free format text: 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. a pivot driving unit for pivoting the joint unit via the pivoting mechanism unit independently from the angle change by the angle changer. Compared to previously reported grippers that utilize gecko-like adhesives, the one presented here produces higher normal adhesion and has robustness and controllability advantages. Machine Kinematics Questions and Answers - Application of Kutzbach Criterion to Plane Mechanisms ; advertisement. 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. Haluck 2002). The requirements of the design are identified and the modelling phases of the mechanism are described. 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.