Dual robotic arm end effectors having independent yaw motion
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United States of America Patent
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-
Sep 19, 2000
Issued Date -
N/A
app pub date -
Aug 4, 1998
filing date -
Mar 22, 1996
priority date (Note) -
In Force
status (Latency Note)
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Abstract
An improvement is set forth in a robotic arm structure which includes at least two links. .theta. motion is provided about a primary axis at the proximal end portion of the proximalmost of the links. R motion proceeds radially from the primary axis whereby the distal end portion of the distalmost of the links can be moved in a radially extending straight line. At least two independent end effectors are pivotally mounted for rotation relative to the distal end portion of the distalmost link about an end effector axis which is parallel to the primary axis. The structure is improved by adding independent yaw motors for rotating the end effectors independently.
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