Importance

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Abstract

A multiple link robot arm mechanism uses first and second motors capable of synchronized operation to permit movement of the robot arm hand along a curvilinear path as the extension of the hand changes. A motor controller controls the first and second motors in two preferred operational states to enable the robot arm mechanism to perform two principal motion sequences. The first operational state maintains the position of the first motor and rotates the second motor so that the mechanical linkage causes linear displacement (i.e., extension or retraction) of the hand. The second operational state rotates the first and second motors so that a mechanical linkage causes angular displacement of the hand about a shoulder axis. The second operational state can provide an indefinite number of travel paths for the hand, depending on coordination of the control of the first and second motors. An alternative preferred embodiment of the robot arm mechanism substitutes for the hand an end effector structure that has two oppositely extending hands and rotates about a wrist axis. All rotary joints of either embodiment are preferably fitted with rotary fluid slip rings or multiple fluid-passageway spools that permit continuous rotation about any of three axes.

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First Claim