Patent ID: 6098484
Filing Date: 2000-08-08
Classification: B25J,G05G,Y10T

Abstract:
A multiple link robot arm apparatus, comprising:an upper arm supporting a forearm and a hand and operable for rotation about a shoulder axis, the forearm having a first end that is supported by the upper arm for rotation about an elbow axis and having a second end that supports the hand for rotation about a wrist axis;a first motor coupled to the forearm with an X:1 drive ratio for rotatably positioning the forearm about the elbow axis, wherein X is other than 2;a second motor coupled to the upper arm with a 1:1 drive ratio for rotatably positioning the upper arm about the shoulder axis;a mechanical linkage operatively connecting the upper arm and the forearm, the mechanical linkage forming an active drive link between the first motor and the forearm to cause the forearm to rotate about the elbow axis in response to operation of the first motor and a passive drive link between the forearm and the hand to cause the hand to rotate about the wrist axis in response to rotation of the forearm about the elbow axis; anda controller coordinating the operation of the first and second motors in at least a first state characterized by contrarotating the first and second motors so that the mechanical linkage causes linear displacement of the hand radial to the shoulder axis.