Scott A. Russell has filed for patents to protect the following inventions. The point A of the rhombus is connect to fixed point O2 through the link 2. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Application: Creates an approximate straight line . 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. A Scott Russell mechanism device pivotably couples a main arm member and a sub arm member to each other, as well as it pivotably couples a joint unit to a tip end part of the main arm member. Therefore, by the rotor of the rotation unit where the amount of the postural displacement is increased compared to the conventional device, the Scott Russell mechanism device according to the present invention can be applied to the application of performing the gripping while flexibly responding to the orientation of a workpiece as a gripping target. 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. 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. 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. It is evident from the figure that this mechanism is made up of isosceles triangles, AB, AC and AO2 are of equal lengths. ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SASAKI, HIROMICHI;SHIMIZU, MIKIO;ICHIKAWA, YASUNORI;REEL/FRAME:031303/0520, Free format text: SQUSE INC., JAPAN, Free format text: Further, when both of the base end parts of both of the arm members are moved in the same direction by the same amount, both of the arm members can be moved entirely while keeping their postures. In the present invention, the rotation unit is coupled to the joint unit. . In the present invention, the joint unit pivotably coupled to the tip end part of the main arm member can be pivoted in a 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. 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. [1] . 9.8. Owner name: Moreover, in the present invention, the gripping unit is attached to the tip end side of the pivoting unit. Therefore, since the rotor of the rotation unit can rotate independently of the displacement of the tip end part of the main arm member, the displacement amount of the rotor of the rotation unit coupled to the tip end side of the main arm member can be increased, and the application of the Scott Russell mechanism device according to the present invention further expands. However, a bridge-type mechanism with an external load always works in an energy-inefcient situation due to the storage of strain energy in the exural hinges, which can be validated by the analytical model established in this paper. 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. The Scott Russel mechanism converts linear motion in one direction to another direction. As detailed in the previous articles there are many four bar linkage based mechanisms which can generate straight lines. 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. Moreover, in the Scott Russell mechanism device according to the present invention, a pivoting member may be pivotably coupled to the joint unit. Scott Russell has filed for patents to protect the following inventions. 38. A Scott Russell mechanism is a mechanism where a linear main arm member is pivotably coupled to a sub arm member, a distance from a base end part of the main arm member to a coupling position thereof, a distance from the coupling position of the main arm member to a tip end part thereof, and a distance from a coupling position of the sub arm member to a base end part thereof are all equal to each other, and in a case where a coupling angle between both of the arm members is changed, the tip end part of the main arm member linearly moves along a straight line connecting the tip end part of the main arm member and the based end part of the sub arm member. 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. An interesting mechanism to consider in designing leverage devices with flextensional joints is the Scott -Russel, also known as half beam mechanism, which is described geometrically in Fig.. Robert's Mechanism. These mechanisms are governed by Kinematics the study of geometry and motion. 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 . 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. Specifically, the tip end part of the main arm member can be moved by only moving the base end part of the main arm member, by only moving the base end part of the sub arm member, or by moving both of the base end parts of both of the arm members, respectively. 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. wherein the degree of the curve of the main arm member is 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. The Scott-Russell (SR) amplifying mechanism [1] is designed for a cutting tool to amplify the PA displacement and carry out high precision for the motion control system. The Scott Russell mechanism device of, 20. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. 11862054.1, Mar. 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. 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. Campbell, Scott SPE Disciplines. The linkage is named after John Scott Russell (18081882), although watchmaker William Freemantle had already patented it in 1803. 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. The main arm member is formed into a boomerang-like shape such that the coupling position is curved to detour to an opposite side from the side where the sub arm member is positioned. Until recently, 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. Echinacea. One of the ends is then connected to something that can generate linear motion, such as a rolling or sliding connection, or another straight line mechanism. In the present invention, the joint unit, the rotation unit, and the pivoting unit are coupled to each other in this order. With the suffering came a wave of change that saw millions after their opinions towards not only war, but life itself. 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. In the present invention, the pivoting of the joint unit pivotably coupled to the tip end part of the main arm member is driven by the pivot driving unit. cartesian coordinate type, Programme-controlled manipulators characterised by movement of the arms, e.g. The Scott Russell mechanism device of, 18. All Rights Reserved. Schematic of a Scott-Russell mechanism using flexure hinges Open in viewer 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. This paper describes the design of an exact straight line motion mechanism, commonly known as a Scott-Russell mechanism (SRM), for industrial application. wherein an axis of the pivot of the pivoting member is in parallel to the pivoting axis of the joint unit, and. Patent Document 1 discloses a Scott Russell mechanism applied to a industrial robot. 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. 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. Scott Russell's Mechanism - Special Mechanism - Kinematics of Machinery Ekeeda 914K subscribers Subscribe 44 2.1K views 7 months ago Subject - Kinematics of Machinery Video Name - Scott. The main arm member and the sub arm member may be pivotable about the virtual straight line as a pivoting axis thereof. cylindrical coordinate type or polar coordinate type, 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, The United States Of America As Represented By The Secretary Of The Navy, Gilman Engineering & Manufacturing Co., Llc, The Regents Of The University Of Michigan, ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SASAKI, HIROMICHI;SHIMIZU, MIKIO;ICHIKAWA, YASUNORI;REEL/FRAME:031303/0520, PAYMENT OF MAINTENANCE FEE, 4TH YR, SMALL ENTITY (ORIGINAL EVENT CODE: M2551); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY, Motor-driven articulated arm with cable capstan including a brake, Substrate transfer unit, substrate treating apparatus including the same, and substrate treating method, Drive mechanism and manufacturing apparatus, Based on the collapsible explorer mechanical arm of triangle configuration link transmission, Device for carrying out a phase-locked linear displacement of two shafts arranged in parallel, Picking mechanism with metamorphic function, Bending apparatus for material testing and micro-ct imaging, mechanical arm with synchronous belt transmission device, Suitable for the lifting mechanism of disk-like accessory, STRIP CUTTING SYSTEM BY HELICOIDAL KNIVES AND CORRESPONDING CUTTING PROCESS, Motorized manipulator of the cable transmission type having an increased field of action, Scara type robot with counterbalanced arms, Pick and place device having two parallel axes, Improvements in or relating to overhead electric traction systems, Joint structure of arm, etc. 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. 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. 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). Further, Patent Document 2 discloses a Scott Russell mechanism applied to a positioning transport device. In the present invention, the joint unit, the rotation unit, and the pivoting unit are coupled to each other in this order. 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. The connections between links are modeled as providing ideal movement, pure rotation or sliding for example, and are called joints. 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. Scott Russell mechanism applied to a drive structure of a feed arm. 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. By the constraints of the geometry point A moves in a circular path and as the point A moves in a circle point P traverses an exact straight line path normal to the line joining O2 and O4.if(typeof ez_ad_units!='undefined'){ez_ad_units.push([[300,250],'brighthubengineering_com-large-mobile-banner-1','ezslot_14',174,'0','0'])};__ez_fad_position('div-gpt-ad-brighthubengineering_com-large-mobile-banner-1-0'); From the construction of the Peaucellier linkage it is clear that this is a much more complex mechanism than the mechanisms generating approximate straight lines, which were simple four bar linkages. Includes bibliographical references and index. 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. This mechanism has eight members and six joints.if(typeof ez_ad_units!='undefined'){ez_ad_units.push([[250,250],'brighthubengineering_com-large-mobile-banner-2','ezslot_15',179,'0','0'])};__ez_fad_position('div-gpt-ad-brighthubengineering_com-large-mobile-banner-2-0'); The complexity of the mechanisms to generate exact straight lines can be reduced by introduction of one or more slider crank linkages. Animation of the Scott Russell Linkage attached to a Peaucellier-Lipkin Linkage. Developed by James Watt for reciprocating piston of steam engine. 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. Application: used to connect intersecting shafts . 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. 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. mechanism of machinery straight and parallel line mechanism table of contents straight line mechanism introduction history different mechanism used for 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. 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. Furthermore, in the Scott Russell mechanism device according to the present invention, a rotation unit having a rotor may be coupled to 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, the posture of the joint unit can be controlled freely, and additionally, since the pivot driving unit is provided from the coupling position toward the tip end side of the main arm member, the distance to the joint unit becomes close, and the drive transmission mechanism can be scaled down. 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 use of flexure joints in the Scott Russell mechanism provides a number of advantages over traditional revolute joints, making it a valuable technology for use in space where maintenance is difficult and costly. 33 - March 25, 2009 (40-2) - House of Commons of Canada In the present invention, the rotation unit having the rotor is coupled to the joint unit. IPTC (1) NACE (2) OTC (1) Date. Copyright 2022 Bright Hub PM. 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. 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. 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. 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: The schematic of a flexure hinge-based Scott-Russell mechanism is depicted in Figure 3. Conventionally, various kinds of devices using a Scott Russell mechanism exist. Stuart J. Russell and Peter Norvig Upper Saddle River, New Jersey 07458. Any in SPE Disciplines (4) Conference. The device may include a pivoting drive source for driving the pivots of the main arm member and the sub arm member centering on the pivoting 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 ]. On this Wikipedia the language links are at the top of the page across from the article title. Haluck 2002). cartesian coordinate type, Programme-controlled manipulators characterised by movement of the arms, e.g. It contains solutions to the problems in the book and is available free of charge to adopters.
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