Three degree of freedom robotic manipulator constructed from rotary drives

摘要

A three degree-of-freedom robotic manipulator is constructed from three rotary drives. The rotary drive consists of a relatively small diameter cylindrical driving member coupled to a larger diameter cylindrical driven member. The driven member of a second rotary drive is mounted perpendicularly to the driven member of a first drive. The driven member of a third drive is mounted to the periphery of the driven member of the second drive with its axis of rotation parallel to the driven member of the second drive. The driving member of the third drive is located with its axis of rotation coincident with the axis of rotation of the driven member of the second drive. Motors powering the second and third driving members are mounted to the driven member of the first drive roughly centered over its axis of rotation. An extension arm for mounting the end effector is fixed to the driven member of the third drive. This arrangement reduces the number of required components and minimizes motor movement to reduce inertia. Performance is higher and the cost is reduced over conventional designs.