wherein an axis of the pivot of the pivoting member is in parallel to the pivoting axis of the joint unit, and. Either one of the base end part of the main arm member or the base end part of the sub arm member may be pivotably coupled to the first linearly-moving unit about the virtual straight line as the pivoting axis thereof. Priority claimed from JPPCT/JP2011/058124. The point A of the rhombus is connect to fixed point O2 through the link 2. The Scott Russell mechanism device of, 17. 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 application of the Scott Russell mechanism device according to the present invention expands. wherein the main arm member is protrudingly provided with a convex part at a side coupled to the sub arm member on the coupling position, wherein the main arm member is formed into a boomerang shape such that the coupling position is curved to make the base end part of the main arm member, the coupling shaft of the convex part, and the tip end part of the main arm member positioned on a same straight line, and. Although the PA has many advantages, its main drawback is the hysteresis phenomena, which arises from material polarization and molecule friction [2]. Manufacturing methods for gripping devices, robot devices, control methods, control programs, recording media, and articles. Conventionally, various kinds of devices using a Scott Russell mechanism exist. PATENTED CASE, Free format text: 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. 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. On this Wikipedia the language links are at the top of the page across from the article title. 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. It is possible to generate an exact straight line using the slider crank mechanism but the range of motion is limited. Scott-Russell mechanism: The schematic of a flexure hinge-based Scott-Russell mechanism is depicted in Figure 3. 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. SQUSE INC., JAPAN, Free format text: A tip end part of a main arm member of a Scott Russell mechanism is enabled to be brought close to a base end part of a sub arm member. 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. [1][2], A different form of the linkage has been used in a front-wheel-drive vehicle with solid rear axle to control lateral movement, and with a flexing elastomeric connection instead of the rolling or sliding connection. Application: this is a mechanism for connecting two shafts having parallel misalignment. 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. Freemantle straight-line linkage from British Patent 2741, November 17, 1803. wherein an axis of the pivot of the pivoting member is in parallel to the pivoting axis of the joint unit, and. 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. The application of the Scott Russell mechanism device according to the present invention expands by attaching various kinds of units corresponding to various applications to its rotor.. With the industrial robot according to Patent Document 1, both of the arm members are rotated (turned) about the screw shaft. A Scott Russell mechanism device, comprising: a sub arm member pivotably coupled to the main arm member by a coupling shaft; and. The first exact straight line generating mechanism was invented by a French army officer Charles Nicolas Peaucellier in 1864. When linkage mechanisms are designed to generate exact straight lines the level of complexity increases as compared to the mechanisms designed to generate approximate straight line paths. Learn CAD with SolidWorks 2008- Create new sketch tutorial by John Sinitsky, Creating new file in CAD program - Overview of SolidWorks2008 Menu by John Sinitsky. [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]. The displacement amplification mechanism has the primary role in sensitivity and performance analysis of micro-devices (Iqbal and Malik 2019). 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 allow a tip end part of a main arm member to approach a sub arm member without interfering even in a case where the coupling angle of the base end parts of the main arm member and the sub arm member is changed so that the base end parts are spaced from each other, and can attach various kinds of units to the tip end side of the main arm member and change postures of the units in a wide range. Conventionally, various kinds of devices using a Scott Russell mechanism exist. The commonly used displacement amplification compliant mechanism has plenty of categories of bridge-type mechanisms, lever mechanisms, Scott-Russell mechanisms, and many more (Xu and Li . It is shown that O is a fixed pin joint, A is the input point to be driven by a PSA, and B is the output point. Emplois Personnes LinkedIn Learning . The flexure-based Scott-Russell mechanism can be simplified as four bar mechanism and shown in Fig. A mechanical linkage is an assembly of systems connected to manage forces and movement. The angle changer may have 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. 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. Further, Patent Document 2 discloses a Scott Russell mechanism applied to a positioning transport device. 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. Bridge-type amplification mechanism Bridge-type mechanism, rhombic mechanism, double-rocker mechanism, scott-russell mechanism, honey comb mechanism, and lever mechanism are a few amplification mechanisms which have been used for micro/nano manipulation purposes [ 33, 34, 35, 36, 37 ]. The proposed stage showed the first natural frequency of 57 Hz and the maximum stroke of 122.84 m, 108.46 m, 0.685 mrad in the x-, y-, and -direction, respectively. Scott Russell mechanism applied to a drive structure of a feed arm. The device may include 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. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). 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. In the present invention, the gripping unit is attached to the tip end side of the pivoting unit. 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. 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. These mechanisms are simple linkage mechanisms with revolute joints, but they can only generate approximate straight lines and that too only for short lengths. Simply download our free CAD . 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. Either one of the base end part of the main arm member or the base end part of the sub arm member may be pivotably coupled to the first linearly-moving unit about the virtual straight line as the pivoting axis thereof. Further, Patent Document 2 discloses a Scott Russell mechanism applied to a positioning transport device. The SR mechanism in combination with a parallelogram mechanism enables. Therefore, as for the application of the Scott Russell mechanism device according to the present invention, the posture of the joint unit can be changed in the total of two kinds of manners. ARTICULATED MOTORIZED ARM WITH CABESTAN WITH CABLE COMPRISING A BRAKE. 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. 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. Scott-Russell Exact Straight Line Mechanism: Scott-Russell The complexity of the mechanisms to generate exact straight lines can be reduced by introduction of one or more slider crank linkages. In the present invention, the joint unit, the rotation unit, and the pivoting unit are coupled to each other in this order. The degree of the curve of the main arm member may be defined such that the second section of the main arm member becomes at a substantially parallel angle to the sub arm member when the angle changer changes the coupling angle so that the base end parts of the main arm member and the sub arm member are most separated from each other. 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. Two equal length length links are connected to the opposite corners of the rhombus at one end and to a common fixed point at the other ends. Japanese Patent Office, International Search Report of PCT/JP2011/058124, Jun. This paper describes the design of an exact straight line motion mechanism, commonly known as a Scott-Russell mechanism (SRM), for industrial application. A pivoting unit having a pivoting part that is pivotable centering on an axis in parallel to the pivoting axis of the joint unit may be coupled to the rotor of the rotation unit. Copyright 2022 Bright Hub PM. The design criteria of the Scott-Russell mechanism are to achieve large amplification factor and minimum motion deviation. 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. The Scott Russell mechanism device of, 16. 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 bridge-type mechanism is one of the most widely used displacement ampliers in micro- scale applications. 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. Library of Congress Cataloging-in-Publication Data Russell, Stuart J. This mechanism can generate an exact straight line if the link dimensions are correct. The mechanism with bridge-type flexure hinges is developed and optimized to amplify the displacement of a multilayer piezostack by Kim et al. 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. 11862054.1, Mar. It contains solutions to the problems in the book and is available free of charge to adopters. 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. 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 locus of the straight line is the same as the travel of the slider for 90 degrees rotation of the crank. Until recently, 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. 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. Perfect straight lines can also be generated using a linkage mechanism. CORROSION 2003 (1) CORROSION 2004 (1) International Petroleum Technology Conference (1) Offshore Technology Conference Asia (1) Publisher. The proposed mechanism is applied in an internal materials movement system using autonomous guided vehicles (AGVs) for supporting logistics processes along the supply chain, aiming to replace the current manual operations. 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. In each of the applets, drag the sliders to change the shape of the path of the free point to obtain the longest possible straight path. Additional . 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. Scott A. Russell has filed for patents to protect the following inventions. Scott-Russell Mechanism. 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. 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 so as to turn only both of the arm members. Moreover, in the Scott Russell mechanism device according to the present invention, the sub arm member may be linearly formed. wherein a rotation unit having a rotor is coupled to the pivoting member. Thus, when the coupling angle is changed so that a base end part of the main arm member and a base end part of the sub arm member are most separated from each other, a tip end . The Scott Russell mechanism device of. In this mechanism, the slider is replaced by a link traveling . 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. 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. Patent Document 1 discloses a Scott Russell mechanism applied to an industrial robot. ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SASAKI, HIROMICHI;SHIMIZU, MIKIO;ICHIKAWA, YASUNORI;REEL/FRAME:031303/0431, PAYMENT OF MAINTENANCE FEE, 4TH YR, SMALL ENTITY (ORIGINAL EVENT CODE: M2551); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY. 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.
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