A manipulator or mechanical arm involves an upper and a lower arm, with a variable angle between them. Cables used to transmit motion and force from the upper to the lower arms pass over a pulley at the joint or elbow. A pulley, axiaily fixed with respect to the joint, imposes a change in length of the cable as the angle between the arms varies. Manipulation design requires a cable of constant length during this variation; this constant length may be achieved by guiding the center of the pulley along the proper path. Acceptable solutions were obtained in terms of …
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Argonne National Lab., Lemont, Ill.
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Lemont, Illinois
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A manipulator or mechanical arm involves an upper and a lower arm, with a variable angle between them. Cables used to transmit motion and force from the upper to the lower arms pass over a pulley at the joint or elbow. A pulley, axiaily fixed with respect to the joint, imposes a change in length of the cable as the angle between the arms varies. Manipulation design requires a cable of constant length during this variation; this constant length may be achieved by guiding the center of the pulley along the proper path. Acceptable solutions were obtained in terms of variables such as the lengths of each arm, the radius of the pulley, and the angle between the arms. In one design the pulley center is moved along a straight line with respect to the lower arm, while in the other solution the pulley center is moved along a circular arc with respect to the upper amn. Practical and economical mechanisms based on these solutions were investigated for use in manipulator design. (auth)
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