mechanism of machinery straight and parallel line mechanism table of contents straight line mechanism introduction history different mechanism used for The Bricard inversor directly incorporates the Scott Russell's links, replacing the previously required straight line connection and allowing for two exact straight line outputs at right angles. 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, 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. Furthermore, Patent Document 4 discloses a Scott Russell mechanism applied to an industrial robot. 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. 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. Schematic of a Scott-Russell mechanism using flexure hinges Open in viewer Scott Russell mechanism applied to a drive structure of a feed arm. Further, in the present invention, the gripping unit is attached to the rotor of the rotation unit. 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. 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. 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. 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. 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 point A of the rhombus is connect to fixed point O2 through the link 2. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. The First World War brought about much destruction and horror to extents that the world had never before seen. In the present invention, the gripping unit is attached to the tip end side of the pivoting unit. CORROSION 2003 (1) CORROSION 2004 (1) International Petroleum Technology Conference (1) Offshore Technology Conference Asia (1) Publisher. Therefore, the rotation unit can perform the postural displacement in a different range from the case of coupling in an order different from the above, and the application of the Scott Russell mechanism device according to the present invention further expands. 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. 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. 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. 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 Scott Russell mechanism device of, 12. In the present invention, the joint unit, the rotation unit, and the pivoting unit are coupled to each other in this order. Patent Document 1 discloses a Scott Russell mechanism applied to an industrial robot. The requirements of the design are identified and the modelling phases of the mechanism are described. The Scott Russell mechanism device of, 13. Explanation: Scott Russell's mechanism is an exact straight line mechanism, however this mechanism is not so useful for practical purposes as friction and wear of sliding pair is more than that of turning pair. An axis of the pivot of the pivoting member may be in parallel to the pivoting axis of the joint unit. Furthermore, Patent Document 4 discloses a Scott Russell mechanism applied to an industrial robot. 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. [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]. Moreover, 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. In the present invention, the joint unit, the rotation unit, and the pivoting unit are coupled to each other in this order. Note that, the substantially parallel angle means that it does not require an accurate parallelism with respect to the sub arm member but includes a slight angle variation, and in the present invention, the substantially parallel angle can be said to be parallel as long as it is within a range of 10 with respect to the axis of the sub arm member in the longitude direction (also in other parts of description a variation range of 10 with respect to the accurate parallelism is included in the meaning of the phrase substantially parallel). 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. 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. 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. The Scott Russell mechanism device of, 15. This mecha- tion of point E, as shown in Figure 2 (a) [8-10]. The connections between links are modeled as providing ideal movement, pure rotation or sliding for example, and are called joints. a pivot driving unit for pivoting the joint unit via the pivoting mechanism unit independently from the angle change by the angle changer. 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. This paper describes the design of an exact straight line motion mechanism, commonly known as a Scott-Russell mechanism (SRM), for industrial application. 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. 9.8. 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. 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. Application: this is a mechanism for connecting two shafts having parallel misalignment. Therefore, the application of the Scott Russell mechanism device according to the present invention expands. The SR mechanism in combination with a parallelogram mechanism enables. 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. 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. wherein the main arm member is formed linearly in a first section extending from the base end part to the part corresponding to the coupling position and in 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, and. 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. US 9,505,138 B2 device. Further, in the present invention, the gripping unit is attached to the rotor of the rotation unit. Scott-Russell mechanism: The schematic of a flexure hinge-based Scott-Russell mechanism is depicted in Figure 3. KINEMATICS OF MECHANISMS FROM THE TIME OF WATT, Animation of a Scott-Russell linkage in action, https://en.wikipedia.org/w/index.php?title=Scott_Russell_linkage&oldid=1087282615, Short description is different from Wikidata, Pages using multiple image with auto scaled images, Creative Commons Attribution-ShareAlike License 3.0, This page was last edited on 11 May 2022, at 14:35. 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. Owner name: Moreover, in the Scott Russell mechanism device according to the present invention, a pivoting member may be pivotably coupled to the joint unit. This paper will discuss the mechanical design theoretical modeling and analyses, finite element analysis and experimental verification. The Scott-Russell mechanism gives a theoretically linear motion by using a linkage form with three portions of the links all equal, and a rolling or sliding connection. 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. 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). 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 linkage has a rhombic loop formed of the equal lenght members, 5, 6, 7 and 8. 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. In this mechanism, the slider is replaced by a link traveling . 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. A systematic, if not rigorous, approach to the design of gears and cams also is usually presented in such a course. Therefore, the application of the Scott Russell mechanism device according to the present invention expands. Scott-Russell variation #1. 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. 38. In the present invention, the rotation unit is coupled to the joint unit. 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. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. 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. 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. 11862054.1, Mar. IPTC (1) NACE (2) OTC (1) Date. European Patent Office, Extended European Search Report Issued in Application No. 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. LADDERS, FOOT MECHANISMS FOR LADDERS, AND RELATED METHODS Publication number: 20220381087 10, 2015, Germany, 6 pages. These mechanisms are governed by Kinematics the study of geometry and motion. In the present invention, the gripping unit is attached to the rotor of the rotation unit. 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. 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 present invention can suitably be used for, for example, the gripping application, placing application, transportation application in which it is requested to bring the tip end part of the main arm member close to right beside the base end part of the sub arm member. ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SASAKI, HIROMICHI;SHIMIZU, MIKIO;ICHIKAWA, YASUNORI;REEL/FRAME:031303/0431, Free format text: 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. On this Wikipedia the language links are at the top of the page across from the article title. wherein the main arm member and the sub arm member are pivotable about the virtual straight line as a pivoting axis thereof, the angle changer including: 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. Freemantle straight-line linkage from British Patent 2741, November 17, 1803. 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. 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. The Scott-Russell mechanismThe structural application of flexure hinges in the SR amplifying mechanism is especially important to practically play an important role in the positioning stage and precision cutting. A Unified Approach to Interpreting Model Predictions Scott M. Lundberg, Su-In Lee; Nonbacktracking Bounds on the Influence in Independent Cascade Models Emmanuel Abbe, Sanjeev Kulkarni, Eun Jee Lee; Linear Convergence of a Frank-Wolfe Type Algorithm over Trace-Norm Balls Zeyuan Allen-Zhu, Elad Hazan, Wei Hu, Yuanzhi Li 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. 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. The locus of the straight line is the same as the travel of the slider for 90 degrees rotation of the crank. 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. This paper presents the structural design and analysis of a novel compliant gripper based on the Scott-Russell (SR) mechanism. Moreover, in the Scott Russell mechanism device according to the present invention, a pivoting member may be pivotably coupled to the joint unit. 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. 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. The linkage is named after John Scott Russell (1808-1882), although watchmaker William Freemantle had already patented it in 1803. 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. Copyright 2022 Bright Hub PM. 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. 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 movement of the arms, e.g. This paper presents the structural design and analysis of a novel compliant gripper based on the Scott-Russell (SR) mechanism.
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