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 dynamic equations of a micro-positioning Scott-Russell (SR) mechanism associated with . 10.1016/j.sna.2005.06.025 | DeepDyve Scott-Russell mechanism. Haluck 2002). In this mechanism, the slider is replaced by a link traveling . 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. 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, 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, 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. 10, 2015, Germany, 6 pages. ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SASAKI, HIROMICHI;SHIMIZU, MIKIO;ICHIKAWA, YASUNORI;REEL/FRAME:031303/0520, Free format text: 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. In the present invention, the gripping unit is attached to the tip end side of the pivoting unit. 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. 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. CORROSION 2003 (1) CORROSION 2004 (1) International Petroleum Technology Conference (1) Offshore Technology Conference Asia (1) Publisher. This paper will discuss the mechanical design theoretical modeling and analyses, finite element analysis and experimental verification. 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. 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. 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. In the present invention, the rotation unit having the rotor is coupled to the joint unit. PATENTED CASE, Free format text: Il permet de dtailler la liste des options de recherche, qui modifieront les termes saisis pour correspondre la slection actuelle. 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. 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. 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. 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. Scott Russell Mechanism - acculasopa Scott A. Russell Inventions, Patents and Patent Applications - Justia 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. 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, 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. The Scott Russell mechanism device of, 13. Jasen Russell sur LinkedIn : The mystery of what's eating our plastic Flexural Mechanisms for Space Applications | by Hilaal Alam | Jan, 2023 In certain design requirements such as design of production machinery it is desirable to have more accurate straight line paths or sometimes it becomes inevitable to have exact straight line trajectories of mechanisms. Exact dimensions of scott russell mechanism - caqweoutlet 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. Furthermore, in the Scott Russell mechanism device according to the present invention, 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. Mechatronic System Using a Straight-Line Motion Mechanism for AGV European Patent Office, Extended European Search Report Issued in Application No. Furthermore, Patent Document 4 discloses a Scott Russell mechanism applied to an industrial robot. 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 pivot driving unit for pivoting the joint unit via the pivoting mechanism unit independently from the angle change by the angle changer. mechanism of machinery straight and parallel line mechanism table of contents straight line mechanism introduction history different mechanism used for Scott Russell - Founder - Proactivate Consulting LLC | LinkedIn 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). 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. It is evident from the figure that this mechanism is made up of isosceles triangles, AB, AC and AO2 are of equal lengths. New Structural Design of a Compliant Gripper Based on the Scott-Russell 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. 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. PAYMENT OF MAINTENANCE FEE, 4TH YR, SMALL ENTITY (ORIGINAL EVENT CODE: M2551); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY. The dynamic equations of a micro-positioning Scott-Russell (SR) mechanism associated with two flexible hinges and an offset are developed and it is found that offsets of flexure hinges obviously affect the amplifying factor and linearity ratio, and appear to dominate the changes of magnification factors. 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. Debates (Hansard) No. 33 - March 25, 2009 (40-2) - House of Commons of 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. You can help Wikipedia by expanding it. An axis of the pivot of the pivoting member may be in parallel to the pivoting axis of the joint unit. 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. The linkage is named after John Scott Russell (1808-1882), although watchmaker William Freemantle had already patented it in 1803. A Scott Russell linkage is a linkage which translates linear motion through a right angle. 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. 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. PAYMENT OF MAINTENANCE FEE, 4TH YR, SMALL ENTITY (ORIGINAL EVENT CODE: M2551); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY. Therefore, the posture of the joint unit can be controlled freely. 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. 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 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. 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. 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. 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. Although the PA has many advantages, its main drawback is the hysteresis phenomena, which arises from material polarization and molecule friction [2]. Freemantle straight-line linkage from British Patent 2741, November 17, 1803. [0016]. 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. 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. One link is double the size of the other, and is connected to the smaller link by its midpoint. 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. Moreover, Patent Document 3 discloses a Scott Russell mechanism applied to a drive structure of a feed arm. 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. This paper presents the structural design and analysis of a novel compliant gripper based on the Scott-Russell (SR) mechanism. In this mechanism, the centres Oand O1 are fixed.. Actuator mechanism and centrifuge having actuator mechanism, Multi-Functional Fixed Robot with Horizontal Maintenance Unit, Table drive device and work system equipped with table drive device, Driving equipment and the Workpiece clamping unit equipped with the driving equipment. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. In the present invention, the rotation unit having the rotor is coupled to the joint unit. Design, analysis and testing of a novel decoupled 2-DOF flexure-based 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. PDF (12) United States Patent (10) Patent No.: US 9,505,138 B2 Sasaki et al 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 First World War. - A-Level English - Marked by Teachers.com 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 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. System identification of a Scott-Russell amplifying mechanism with It is possible to generate an exact straight line using the slider crank mechanism but the range of motion is limited. This article about an automotive technology is a stub. 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. 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. Further, Patent Document 2 discloses a Scott Russell mechanism applied to a positioning transport device. Highlight matches. 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. 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. 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 present invention can be switched, as for the joint unit attached to the tip end of the main arm, to the total of two ways of pivoting including the pivot cooperating with the angle change of the arm members at the coupling position and the pivot independent from the angle change, and thus the Scott Russell mechanism device can suitably be used for various applications. 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 . 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. Either one of the base end part of the sub arm member or the base end part of the main arm member may be pivotably coupled to the second linearly-moving unit about the virtual straight line as the pivoting axis thereof.

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