Modularer Manipulator-Arm.

摘要

The manipulator arm is formed from successive elements (1,2) each of which can pivot with respect to the preceding one about a pivoting axis which is merged with the axis of the element concerned, and can pivot with respect to the next one (2) about a pivoting axis which meets the axis of the element concerned at an oblique angle. These pivotings are obtained by means of rotary jacks (6) which rotate a section of drive shaft (7) with respect to the corresponding element, and immobilise it in the chosen position. The jacks are each coupled to a distributor (4) which is itself preferably controlled by a low power electric motor (5). The link between successive elements (1, 2) preferably comprises a universal joint (3, 13a, 13b) connecting the elements, and oblique bearing surfaces (9) at the end of the sections of drive shaft. ……