| 摘要 |
<p>A robot arm assembly (10) and method for moving a workpiece (12) while maintaining a constant workpiece (12) orientation includes a first link (14) with a first pulley (20) rotatably supported at a first end (16) of the first link (14). A second pulley (22) is disposed at a second end (18) of the first link (14). A coupling (24) prevents relative rotation between the first (20) and second pulleys (22). The first (20) and second pulleys (22) have different radii that establish a ratio of rotation. Fixedly attached to the first pulley (20) is a tool (26) adapted to releasably grip the workpiece (12). A second link (28) is mounted to a support at a first end (30) and rotatably connected to the first link (14) at a second end (34). The coupling of the pulleys (20, 22) limits rotation of the tool (26) and workpiece (12) relative to a reference plane A as the second link (28) rotates relative to the support and the first link (14) rotates relative to the second link (28). The rotation of the first link (14), relative to the second link (28) are part of a robot operating software program for moving the workpiece (12).</p> |
