Claims
- 1. A manipulator comprising:
- a motor operated end effector;
- end effector supporting means;
- means coupling said end effector and end effector supporting means along a longitudinal axis extending therethrough;
- sensing means connected between said end effector and end effector supporting means for sensing at least one component of torque transmitted therebetween through said coupling means about a cross axis which intersects the longitudinal axis;
- a motor for operating said end effector; and
- means for mounting said motor and end effector at opposite sides of said sensing means along the longitudinal axis such that the motor counterbalances said end effector to substantially null torque components produced by the weight of said end effector about said cross axis.
Parent Case Info
This is a division of application Ser. No. 406,553, filed Oct. 15, 1973, now U.S. Pat. No. 3,921,445.
BACKGROUND OF INVENTION
The invention described herein was made in the course of work under a grant or award from the U.S. National Science Foundation.
US Referenced Citations (2)
Number |
Name |
Date |
Kind |
3509583 |
Frioli |
May 1970 |
|
3759563 |
Kitamura |
Sep 1973 |
|
Divisions (1)
|
Number |
Date |
Country |
Parent |
406553 |
Oct 1973 |
|