Patent ID: 7543518
Filing Date: 2009-06-09
Classification: B25J,Y10T

Abstract:
1. A link assembly for a robot arm which assembly comprises: a first set of first and second link members each adapted for limited movement one with respect to the other, said first link member having a first set opening extending therethrough; a resilient elastomer disposed between said first set of first and second members; a second set of third and fourth link members each adapted for limited movement one with respect to the other, said fourth link member having a second set opening extending therethrough; a resilient elastomer disposed between said second set of third and fourth members, where the second link member abuts the third link member; a third set of link members including a fifth and a sixth link member, each adapted for limited movement one with respect to the other, said fifth link member having a third set opening extending therethrough, wherein said third set opening comprises a flared opening; a resilient elastomer disposed between said third set of fifth and sixth link members, wherein said fifth link member abuts said fourth link member such that said second set opening abuts said third set opening; at least one wire extending through said first set opening in said first set of link members and through said second set opening in said second set of link members controlling the movement of said first and second set of link members, wherein said first set opening and said second set opening comprise flared openings; said at least one wire including a preload so as to maintain said link assembly under compression; characterized in that the first and second link members are configured in a cooperating mating relationship and the elastomer is disposed between them as a layer and the elastomer is keyed or bonded to both of the first and second link members whereby the layer is maintained under compression by said at least one wire such that a bending movement between the members produces shear movement within the elastomer and substantially no compressive movement as a result of the relative movement between the said first and said second members.