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, and, wherein either one of the base end part of the main arm member or the base end part of the sub arm member is pivotably coupled to the first linearly-moving unit about the virtual straight line as the pivoting axis thereof, and. The Scott Russell mechanism device of, 17. Jasen Russell tendre la recherche. The linkage is named after John Scott Russell (1808-1882), although watchmaker William Freemantle had already patented it in 1803. The Scott Russell mechanism device of, 14. 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. Scott Russell mechanism applied to a drive structure of a feed arm. 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. 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. 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. 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. In this mechanism, the centres Oand O1 are fixed.. Moreover, Patent Document 3 discloses a Scott Russell mechanism applied to a drive structure of a feed arm. 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. This mechanism is a modification of modified Scott-Russel'smechanism with the difference that the point Pdoes not slide along a straight line, but moves in a circular arc with centre O. 10. European Patent Office, Extended European Search Report Issued in Application No. 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 . Owner name: 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. A systematic, if not rigorous, approach to the design of gears and cams also is usually presented in such a course. Scott Russell has filed for patents to protect the following inventions. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. 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. PATENTED CASE, Free format text: Emplois Personnes LinkedIn Learning . 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. 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. IPTC (1) NACE (2) OTC (1) Date. [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]. 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. 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 main arm member is formed into the boomerang-like shape to detour to the opposite side of the side where the sub arm member is positioned. 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. If both ends are turned into sliding connections, you get a Trammel of Archimedes. The main arm member and the sub arm member may be pivotable about the virtual straight line as a pivoting axis thereof. 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. 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. In the present invention, the gripping unit is attached to the rotor of the rotation unit. A rotation unit having a rotor may be coupled to the pivoting member. 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 Scott Russell mechanism device according to the present invention, a pivoting member may be pivotably coupled to the joint unit. In the present invention, the shape of the main arm member is a boomerang-like shape. Therefore, the application of the Scott Russell mechanism device according to the present invention expands. 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 ]. 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. 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. 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. Manufacturing methods for gripping devices, robot devices, control methods, control programs, recording media, and articles. A standard Scott Russell straight- mechanism was invented by a French army officer, line mechanism provides an exact straight-line mo- Charles Nicolas Peaucellier, in 1864. 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. 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. The Scott Russell mechanism device of, 19. 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. All Rights Reserved. The Scott Russell mechanism device of, 20. A Scott Russell mechanism device, comprising: a sub arm member pivotably coupled to the main arm member by a coupling shaft; and. Scott Russell mechanism developed by John Scott Russell (1808-1882), although already patented in 1803 by watchmaker William Freemantle, gives a theoretically linear motion by using a linkage form with three portions of the links all equal, and a rolling or sliding connection. (Stuart Jonathan) Instructor's solution manual for artificial intelligence : a modern approach (second edition) / Stuart Russell, Peter Norvig. In the present invention, the joint unit, the rotation unit, and the pivoting unit are coupled to each other in this order. Freemantle straight-line linkage from British Patent 2741, November 17, 1803. Therefore, the gripping unit can be pivoted proximally to the workpiece which is the gripping target, and the Scott Russell mechanism device including a griping function suitable for such a gripping application can be provided. 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). PAYMENT OF MAINTENANCE FEE, 4TH YR, SMALL ENTITY (ORIGINAL EVENT CODE: M2551); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY. Application: used to connect intersecting shafts . The structural application of flexure hinges in the SR mechanism is especially important to practically play a powerful role in the positioning stage and precision cutting. Figure 3. An axis of the pivot of the pivoting member may be in parallel to the pivoting axis of the joint unit. Conventionally, various kinds of devices using a Scott Russell mechanism exist. 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. A joint unit pivotably coupled to a tip end part of a main arm member of a Scott Russell mechanism is pivoted in two ways. Therefore, the application of the Scott Russell mechanism device according to the present invention expands. 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. In the present invention, the rotation unit having the rotor is coupled to the joint unit. This paper presents the structural design and analysis of a novel compliant gripper based on the Scott-Russell (SR) mechanism. Furthermore, Patent Document 4 discloses a Scott Russell mechanism applied to an industrial robot. Furthermore, Patent Document 4 discloses a Scott Russell mechanism applied to an industrial robot. 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. US 9,505,138 B2 device. Owner name: 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. Therefore, the gripping unit can be pivoted proximally to the workpiece which is the gripping target, and the Scott Russell mechanism device including a griping function suitable for such a gripping application can be provided. 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, 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 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. 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. Moreover, with the industrial robot according to Patent Document 1, both of the arm members are rotated (turned) about the screw shaft 21 as a rotation center (turning center), then all of the industrial robot including the screw shaft 21 is turned, and thus a problem arises that a drive torque for the turning increases. Theory of Machines and Mechanisms - John J. Uicker 2003 This work is a supplement to accompany the authors' main text. 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 . Therefore, since the rotation unit has the rotor that is rotatable independently to the displacement of the tip end part of the main arm member, the degree of freedom of the posture of the rotor of the rotation unit provided to the tip end side of the main arm member improves. 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. 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. CORROSION 2003 (1) CORROSION 2004 (1) International Petroleum Technology Conference (1) Offshore Technology Conference Asia (1) Publisher. In the present invention, the joint unit, the rotation unit, and the pivoting unit are coupled to each other in this order. The Scott Russell mechanism device of. A mechanical linkage is an assembly of systems connected to manage forces and movement. 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. This paper describes the development of a gecko-inspired robotic gripper for grasping flat objects using Scott-Russell mechanisms. 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. 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 part of the main arm member can be moved close to right beside the base end part of the sub arm member. 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. The bridge-type mechanism is one of the most widely used displacement ampliers in micro- scale applications. Campbell, Scott SPE Disciplines. 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. A dialindicator is a precision measuring tool that uses a needle or pointer to display a measurement on a dial. 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. 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. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. 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. 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, 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. Further, Patent Document 2 discloses a Scott Russell mechanism applied to a positioning transport device. This paper presents the structural design and analysis of a novel compliant gripper based on the Scott-Russell (SR) mechanism. Simply download our free CAD . 9.8. The main arm member may be formed linearly in a first section extending from the base end part to the part corresponding to the coupling position and a second section extending from the part corresponding to the coupling position to the tip end part, and the part corresponding to the coupling position is curved. ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SASAKI, HIROMICHI;SHIMIZU, MIKIO;ICHIKAWA, YASUNORI;REEL/FRAME:031303/0431, Free format text: 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. [1] [2] Thus, the degree of posturing freedom of the rotor of the rotation unit positioned to the farthest tip end increases, and the application of the Scott Russell mechanism device according to the present invention further expands. The linkage is composed of two links. 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. 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.. The resonant frequency was improved by embedding a Scott-Russell mechanism [ 31 ]. It is possible to generate an exact straight line using the slider crank mechanism but the range of motion is limited.
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