Claims
- 1. A robot arm of the anthropomorphic type having shoulder, elbow and wrist joints comprising,
- a base, an upper arm, a lower arm and a tool interface,
- a shoulder joint connecting the base to a first end of the upper arm, the shoulder joint having an upper arm sweep axis, an upper arm swivel axis perpendicular to the sweep axis and an upper arm roll axis, perpendicular to both the sweep and swivel axes, the roll, sweep and swivel axes intersecting at a fixed common point,
- an elbow joint connecting a second end, opposite the first end, of the upper arm to a first end of a lower arm, said elbow joint having an extension axis parallel to the swivel axis of the shoulder joint, and
- a biaxial wrist joint connecting a second end, opposite the first end, of the lower arm to the end effector, the wrist joint having a pitch axis parallel to the extension axis of the elbow joint and the swivel axis of the shoulder joint, whereby wrist joint roll motion is achieved by roll motion of the shoulder joint, said shoulder joint comprising a first bracket cantilevered from the base parallel to said roll axis, said frame having an overhang portion with an end region defining said sweep axis in vertical alignment therethrough and a second bracket having a first portion through which said sweep axis passes and a spaced apart region through which the plane formed by the swivel and roll axes passes.
- 2. A robot arm of the anthropomorphic type having shoulder, elbow and wrist joints comprising,
- a base, an upper arm, a lower arm and a tool interface, said base being a vertically mounted plate atop a stand with said shoulder joint cantilevered from said plate,
- a shoulder joint connecting the base to a first end of the upper arm, the shoulder joint having an upper arm sweep axis, an upper arm swivel axis perpendicular to the sweep axis and an upper arm roll axis, perpendicular to both the sweep and swivel axes, the roll, sweep and swivel axis intersecting at a fixed common joint, said shoulder joint comprising a first bracket and a second bracket, said first bracket cantilevered from the base parallel to said roll axis, said first bracket having a horizontal overhang portion with an end region defining said sweep axis in vertical alignment therethrough, said second bracket having a first horizontal portion through which said sweep axis passes and a spaced apart, vertical region through which the swivel and roll axes pass,
- an elbow joint connecting a second end, opposite the first end of the upper arm, to a first end of the lower arm, said elbow joint having an extension axis parallel to the swivel axis of the shoulder joint, and
- a biaxial wrist joint connecting a second end, opposite the first end of the lower arm, to the end effector, the wrist joint having a pitch axis parallel to the extension axis of the elbow joint and the swivel axis of the shoulder joint, whereby wrist joint roll motion is achieved by roll motion of the shoulder joint, said end effector having an axis of spin perpendicular to the pitch axis of the wrist joint.
Parent Case Info
This is a continuation of application Ser. No. 456,310 filed on Jan. 6, 1983, now abandoned.
US Referenced Citations (2)
Number |
Name |
Date |
Kind |
3922930 |
Fletcher et al. |
Dec 1975 |
|
4367532 |
Crum et al. |
Jan 1983 |
|
Foreign Referenced Citations (5)
Number |
Date |
Country |
75760 |
Jun 1977 |
JPX |
203493 |
Apr 1966 |
CHX |
865517 |
Apr 1961 |
GBX |
1536788 |
Dec 1978 |
GBX |
2115779A |
Jul 1983 |
GBX |
Continuations (1)
|
Number |
Date |
Country |
Parent |
456310 |
Jan 1983 |
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