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. The resonant frequency was improved by embedding a Scott-Russell mechanism [ 31 ]. 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. This paper will discuss the mechanical design theoretical modeling and analyses, finite element analysis and experimental verification. The Scott Russell mechanism device of. 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. The Scott Russell mechanism device of, 15. Peaucellier linkage can convert an input circular motion to the exact straight line motion. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. a pivoting unit having a pivoting part that is pivotable centering on an axis in parallel to the pivoting axis of the joint unit is coupled to the rotor of the rotation unit. Moreover, in the present invention, the gripping unit is attached to the tip end side of the pivoting unit. 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. 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. SQUSE INC., JAPAN, Free format text: [1] . The Scott Russell mechanism device of, 18. wherein an axis of the pivot of the pivoting member is in parallel to the pivoting axis of the joint unit, and. Further, Patent Document 2 discloses a Scott Russell mechanism applied to a positioning transport device. All Rights Reserved. Copyright 2022 Bright Hub PM. A Scott Russell linkage is a linkage which translates linear motion through a right angle. Scott Russell has filed for patents to protect the following inventions. an angle changer for changing a coupling angle between the main arm member and the sub arm member, wherein a joint unit is pivotably coupled to the tip end part of the main arm member, and, 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, a pivoting mechanism unit for automatically pivoting the joint unit cooperating with the angle change by the angle changer; and. Moreover, by providing a pivot driving unit to the main arm member, as well as providing a fourth motor and a drive transmission mechanism unit to the sub arm member, the Scott Russell mechanism device can switch between pivoting the joint unit associatively a change of a coupling angle of the arm members and and pivoting the joint unit by the drive of the fourth motor. Thus, the tip end part of the main arm member can be drawn to the sub arm member to the extent where the tip end part of the main arm member is adjacent to be right beside the base end part of the sub arm member. 38. With the suffering came a wave of change that saw millions after their opinions towards not only war, but life itself. Machine Kinematics Questions and Answers - Application of Kutzbach Criterion to Plane Mechanisms ; advertisement. Further, in the present invention, the gripping unit is attached to the rotor of the rotation unit. Until recently, Moreover, in the 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. Relative motion angles other than 90 degrees are possible by simply rotating the fixed guide. 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. Further, in the present invention, the gripping unit is attached to the rotor of the rotation unit. 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. Therefore, the rotation unit attached to the joint unit via the pivoting member can displace its rotor independently of the displacement of the tip end part of the main arm member. Since the postures of these units on the tip end side depend on the direction (posture) of the tip end of the main arm member, a problem arises that a range in which the postures of the units attached to the tip end of the main arm member can be changed is limited. Therefore, the rotation unit attached to the joint unit via the pivoting member can displace its rotor independently of the amount of the displacement of the tip end part of the main arm member, and the postural displacement of the rotor positioned at the farthest tip end increases much more. 11862054.1, Mar. mechanism of machinery straight and parallel line mechanism table of contents straight line mechanism introduction history different mechanism used for This paper describes the design of an exact straight line motion mechanism, commonly known as a Scott-Russell mechanism (SRM), for industrial application. 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. One link is double the size of the other, and is connected to the smaller link by its midpoint. 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. The Scott Russell mechanism device of, 17. Theory of Machines and Mechanisms - John J. Uicker 2003 This work is a supplement to accompany the authors' main text. 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. an angle changer for changing a coupling angle between the main arm member and the sub arm member. In the present invention, the rotation unit is coupled to the joint unit. The point A of the rhombus is connect to fixed point O2 through the link 2. Conventionally, various kinds of devices using a Scott Russell mechanism exist. 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. Therefore, even if the main arm member and the sub arm member are not arranged to offset from each other, when the coupling angle is changed so that the base end parts of both of the arm members are separated from each other, interference between the arm members at the coupling position of both of the arm members is subsided, and the tip end part of the main arm member is easily drawn close to the sub arm member. In the present invention, the gripping unit is attached to the tip end side of the pivoting unit. STRAIGHT LINE MOTION MECHANISM Converts rotary motion into a straight line motion. Although the PA has many advantages, its main drawback is the hysteresis phenomena, which arises from material polarization and molecule friction [2]. The Scott Russell mechanism device of, 12. Furthermore, Patent Document 4 discloses a Scott . In the present invention, when the coupling angle is changed so that the base end parts of the main arm member and the sub arm member are most separated from each other, the degree of the curve of the main arm member is defined such that the second section of the main arm member is in a substantially parallel orientation to the linear sub arm member. 4. 3. 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. Here is a sampling of five herbs that have demonstrated potential immune support benefits: 1. 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. Fundamentals of Modern Manufacturing - Mikell P. Groover 1996-01-15 This book takes a modern, all-inclusive look at manufacturing . With the Scott Russell mechanism device, a moving range of the tip end side of the main arm member can be enlarged. Robert's Mechanism. [0016]. Therefore, compared to the conventional device, a drive torque caused by the turning can be reduced, and both of the arm members can be turned smoothly. Freemantle straight-line linkage from British Patent 2741, November 17, 1803. Japanese Patent Office, International Search Report of PCT/JP2012/058634, Jun. In the present invention, the joint unit, the rotation unit, and the pivoting unit are coupled to each other in this order. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. This paper presents the structural design and analysis of a novel compliant gripper based on the Scott-Russell (SR) mechanism. 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. 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. 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. Moreover, in the Scott Russell mechanism device according to the present invention, the sub arm member may be linearly formed. In this mechanism, the slider is replaced by a link traveling . Additional . 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. The main arm member and the sub arm member may be pivotable about the virtual straight line as a pivoting axis thereof. A straight-line mechanism causes a point to travel in a straight line, or in a nearly straight line, without being guided by a plane surface. 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 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. 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.

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