| 摘要 |
A remote manipulator of the force reflecting servomaster-slave type comprises manipulator elements capable of at least seven distinct motions corresponding to respective degrees of freedom. The manipulator elements include an upper arm journalled in a shoulder assembly and a lower arm operatively connected to the upper arm by an elbow assembly. A gripping device such as a conventional tong is secured to the lower end of the lower arm through a wrist mechanism. Two cooperating motors establish an input output transmission through a differential gear system which permits two motions about axes extending perpendicularly to each other. One axis defines the longitudinal axis of the shoulder assembly. The other axis defines the longitudinal axis of the upper manipulator arm. The parallel drive shafts of the two motors transmit the drive power through parallel gear trains to the differential gear system, whereby coaxial shafts are avoided for the two motions. A third motor may be provided for a third motion, whereby the power transmission may extend through a hollow shaft, thus providing three motions, although using only one hollow shaft.
|
