A rotation unit having a rotor may be coupled to the pivoting member. A mechanical linkage is an assembly of systems connected to manage forces and movement. A dialindicator is a precision measuring tool that uses a needle or pointer to display a measurement on a dial. In this mechanism, the centres Oand O1 are fixed.. These displacement amplifier mechanisms often have a proper amplification ratio capable of large working strokes; however, their low resonant frequency limits their application in high-performance jet dispensers. Application: Creates an approximate straight line if sliding along flat plane. The Scott-Russell (SR) amplifying mechanism [1] is designed for a cutting tool to amplify the PA displacement and carry out high precision for the motion control system. Either one of the base end part of the main arm member or the base end part of the sub arm member may be pivotably coupled to the first linearly-moving unit about the virtual straight line as the pivoting axis thereof. Priority claimed from JPPCT/JP2011/058124. Further, in the Scott Russell mechanism device according to the present invention, a gripping unit may be attached to a tip end side of the pivoting unit. Manufacturing methods for gripping devices, robot devices, control methods, control programs, recording media, and articles. Therefore, the rotation unit can perform the postural displacement in a different range from the case of coupling in an order different from the above, and the application of the Scott Russell mechanism device according to the present invention further expands. An axis of the pivot of the pivoting member may be in parallel to the pivoting axis of the joint unit. Although the PA has many advantages, its main drawback is the hysteresis phenomena, which arises from material polarization and molecule friction [2]. Moreover, in the present invention, the gripping unit is attached to the tip end side of the pivoting unit. In the present invention, the gripping unit is attached to the tip end side of the pivoting unit. cylindrical coordinate type or polar coordinate type, Programme-controlled manipulators characterised by positioning means for manipulator elements, Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links, MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING, ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL, Gearings comprising primarily only links or levers, with or without slides, Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane, Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for conveying or interconverting oscillating or reciprocating motions, GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS, TECHNICAL SUBJECTS COVERED BY FORMER USPC, TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS, TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION, Multiple controlling elements for single controlled element, United Kingdom Atomic Energy Authority, London, Gilman Engineering & Manufacturing Co., Llc, The United States Of America As Represented By The Secretary Of The Navy, The Regents Of The University Of Michigan. Echinacea, also known as Coneflower, is legendary for a reason: science has shown multiple species of Echinacea can provide potentially broad-reaching support for the innate and adaptive immune system. A rotation unit having a rotor may be coupled to the pivoting member. ARTICULATED MOTORIZED ARM WITH CABESTAN WITH CABLE COMPRISING A BRAKE. Moreover, in the Scott Russell mechanism device according to the present invention, a joint unit may be pivotably coupled to the tip end part of the main arm member. Peaucellier linkage can convert an input circular motion to the exact straight line motion. Note that, a direction of the X-axis illustrated in, About the above-described angle on the coupling position, When the coupling angle between the main arm member, In a case where the main and sub arm members, Therefore, for example, when the second motor M, Note that, in a case where the change of increasing the coupling angle is desired to be performed quickly, the rotations of the first and second motors M, Note that, the rotations of the first and second motors M, Note that, the Scott Russell mechanism device, Moreover, in a case where it is desired to point the gripping unit, Further, regarding the mechanism for pivoting the joint unit, Moreover, with the configuration as described above, it is suitable for the fourth motor M, Moreover, other than the application of gripping, for example, in a case of applying to the application of placing and moving the workpieces, a placing unit or the like is attached instead of the gripping unit, That is, the Scott Russell mechanism device, As for the Scott Russell mechanism device, Note that, also as for the Scott Russell mechanism device, Therefore, also in the third embodiment, similarly to the first embodiment, if the control on the fourth motor by a motor controller (corresponding to a switch means) provided accompanying the Scott Russell mechanism device, According to the configuration above, also as for the Scott Russell mechanism device. Part of the Lecture Notes in Electrical Engineering book series (LNEE,volume 505) Abstract This paper describes the design of an exact straight line motion mechanism, commonly known as a Scott-Russell mechanism (SRM), for industrial application. The Scott Russell mechanism device of, 14. Moreover, in the present invention, when the coupling angle is changed so that the base end parts of the main arm member and the sub arm member are most separated from each other, the degree of the curve of the main arm member is defined such that the second section of the main arm member is in a substantially parallel orientation to the linear sub arm member. Campbell, Scott SPE Disciplines. Grasshopper mechanism. Therefore, the gripping (chucking) flexibly responding to the orientation of a workpiece as a gripping target can be performed by the rotor of the rotation unit of which the amount of the postural displacement is increased, and the Scott Russell mechanism device according to the present invention can suitably be used for the gripping application. In the present invention, the joint unit pivotably coupled to the tip end part of the main arm member can be pivoted in a total of two kinds of manners including the pivot cooperating with the angle change between both of the arm members at the coupling position and the pivot independent of the angle change. Further, Patent Document 5 discloses a Scott Russell mechanism in a modified example where the coupling between the main arm member and the sub arm member is in a crank shape, the Scott Russell mechanism applied to a transport device. Furthermore, in the Scott Russell mechanism device according to the present invention, a rotation unit having a rotor may be coupled to the joint unit. The present invention can suitably be used for, for example, the gripping application, placing application, transportation application in which it is requested to bring the tip end part of the main arm member close to right beside the base end part of the sub arm member. PATENTED CASE, Free format text: wherein the main arm member is formed linearly in a first section extending from the base end part to the part corresponding to the coupling position and in a second section extending from the part corresponding to the coupling position to the tip end part, and the part corresponding to the coupling position is curved, and. The proposed mechanism is applied in an internal materials movement system using autonomous guided vehicles (AGVs) for supporting logistics processes along the supply chain, aiming to replace the current manual operations. Animation of the Scott Russell Linkage attached to a Peaucellier-Lipkin Linkage. Moreover, in the Scott Russell mechanism device according to the present invention, a pivoting member may be pivotably coupled to the joint unit. The Scott Russell mechanism device of, 20. It is evident from the figure that this mechanism is made up of isosceles triangles, AB, AC and AO2 are of equal lengths. The structural application of flexure hinges in the SR mechanism is especially important to practically play a powerful role in the positioning stage and precision cutting. The locus of the straight line is the same as the travel of the slider for 90 degrees rotation of the crank. A Scott Russell mechanism device is formed into a boomerang-like shape such that a main arm member coupled to a sub arm member is curved to detour a coupling position. This paper describes the design of an exact straight line motion mechanism, commonly known as a Scott-Russell mechanism (SRM), for industrial application. Therefore, the rotation unit attached to the joint unit via the pivoting member can displace its rotor independently of the amount of the displacement of the tip end part of the main arm member, and the postural displacement of the rotor positioned at the farthest tip end increases much more. Furthermore, in the Scott Russell mechanism device according to the present invention, a rotation unit having a rotor may be coupled to the joint unit. Moreover, the present invention aims to provide a Scott Russell mechanism device that allows a main arm member and a sub arm member to pivot at a base end part of both of the arm members to reduce a drive torque for turning both of the arm members, and to increase in degree of freedom in postures of various kinds of units attached to a tip end of the main arm member compared to the conventional degree. The main arm member may be formed linearly in a first section extending from the base end part to the part corresponding to the coupling position and a second section extending from the part corresponding to the coupling position to the tip end part, and the part corresponding to the coupling position is curved. By the constraints of the geometry point A moves in a circular path and as the point A moves in a circle point P traverses an exact straight line path normal to the line joining O2 and O4.if(typeof ez_ad_units!='undefined'){ez_ad_units.push([[300,250],'brighthubengineering_com-large-mobile-banner-1','ezslot_14',174,'0','0'])};__ez_fad_position('div-gpt-ad-brighthubengineering_com-large-mobile-banner-1-0'); From the construction of the Peaucellier linkage it is clear that this is a much more complex mechanism than the mechanisms generating approximate straight lines, which were simple four bar linkages. Ce bouton affiche le type de recherche actuellement slectionn. The degree of the curve of the main arm member may be defined such that the second section of the main arm member becomes at a substantially parallel angle to the sub arm member when the angle changer changes the coupling angle so that the base end parts of the main arm member and the sub arm member are most separated from each other. HVAC: Heating, Ventilation & Air-Conditioning, Peaucellier Exact Straight Line Mechanism, Scott-Russell Exact Straight Line Mechanism, This post is part of the series: Kinematics - Design of Mechanisms, How to Calculate Cement, Sand and Aggregates in a Beam | Step by Step, Kinematics - Design of Mechanisms: Introduction, Kinematics Design of Mechanisms: Kinematic Inversion, Kinematics Actuation of Machines: Part I Electrical Actuation, Kinematics Actuation of Machines: Part II Hydraulic Actuation, Kinematics Actuation of Machines: Part III Pneumatic Actuation, Kinematics - Analysis of Mechanisms: Methods and Techniques, Kinematics - Synthesis of Mechanisms: Methods and Techniques, Kinematics - Special Mechanisms: Straight Line Mechanisms - II. Therefore, the gripping unit can be pivoted proximally to the workpiece which is the gripping target, and the Scott Russell mechanism device including a griping function suitable for such a gripping application can be provided. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO). ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SASAKI, HIROMICHI;SHIMIZU, MIKIO;ICHIKAWA, YASUNORI;REEL/FRAME:031303/0520, Free format text: 3. The dynamic equations of a micro-positioning Scott-Russell (SR) mechanism associated with . Based on the geometry of the linkage the output motion is a simple sine function of the drive link or a simple harmonic motion. Therefore, compared to the case of coupling the units in an order different from above, the pivoting unit positioned at the farthest tip end can perform the postural displacement in a different range. Robert's Mechanism. Therefore, since the rotor of the rotation unit can rotate independently of the displacement of the tip end part of the main arm member, the displacement amount of the rotor of the rotation unit coupled to the tip end side of the main arm member can be increased, and the application of the Scott Russell mechanism device according to the present invention further expands. Therefore, even if the main arm member and the sub arm member are not arranged to offset from each other, when the coupling angle is changed so that the base end parts of both of the arm members are separated from each other, interference between the arm members at the coupling position of both of the arm members is subsided, and the tip end part of the main arm member is easily drawn close to the sub arm member. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. Therefore, a plurality of variations can be provided to the method of moving the base end part of both of the arm members, and the tip end part of the main arm member can move flexibly. An SR mechanism in combination with a parallelogram mechanism enables the achievement of a pure translation of the gripper tips, which is attractive for practical micromanipulation and microassembly applications. IPTC (1) NACE (2) OTC (1) Date. Until recently, The application of the Scott Russell mechanism device according to the present invention expands by attaching various kinds of units corresponding to various applications to its rotor.. In the present invention, the joint unit pivotably coupled to the tip end part of the main arm member can be pivoted in the total of two kinds of manners including the pivot cooperating with the angle change between both of the arm members at the coupling position and the pivot independent of the angle change. Further, in the present invention, the gripping unit is attached to the rotor of the rotation unit. . The point A of the rhombus is connect to fixed point O2 through the link 2. SQUSE INC., JAPAN, Free format text: [1] [2] The first exact straight line generating mechanism was invented by a French army officer Charles Nicolas Peaucellier in 1864. Moreover, the pivot driving unit is provided at any portion from the coupling position to the tip end side of the main arm member. A Unified Approach to Interpreting Model Predictions Scott M. Lundberg, Su-In Lee; Nonbacktracking Bounds on the Influence in Independent Cascade Models Emmanuel Abbe, Sanjeev Kulkarni, Eun Jee Lee; Linear Convergence of a Frank-Wolfe Type Algorithm over Trace-Norm Balls Zeyuan Allen-Zhu, Elad Hazan, Wei Hu, Yuanzhi Li PATENTED CASE, Free format text: The Scott-Russell mechanism gives a theoretically linear motion by using a linkage form with three portions of the links all equal, and a rolling or sliding connection. Conventionally, various kinds of devices using a Scott Russell mechanism exist. The present invention is made in view of the above situations, and aims to provide a Scott Russell mechanism device that is capable of drawing close to a tip end part of a main arm member proximally to a sub arm member by forming the main arm member into a boomerang-like shape without arranging both of the arm members offset from each other. Table drive device and work system equipped with table drive device, Driving equipment and the Workpiece clamping unit equipped with the driving equipment. The present invention can be switched, as for the joint unit attached to the tip end of the main arm, to the total of two ways of pivoting including the pivot cooperating with the angle change of the arm members at the coupling position and the pivot independent from the angle change, and thus the Scott Russell mechanism device can suitably be used for various applications. (Stuart Jonathan) Instructor's solution manual for artificial intelligence : a modern approach (second edition) / Stuart Russell, Peter Norvig. Owner name: Thus, the tip end part of the main arm member can be drawn to the sub arm member to the extent where the tip end part of the main arm member is adjacent to be right beside the base end part of the sub arm member. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO). In the present invention, when the coupling angle is changed so that the base end parts of the main arm member and the sub arm member are most separated from each other, the degree of the curve of the main arm member is defined such that the second section of the main arm member is in a substantially parallel orientation to the linear sub arm member. The application of the Scott Russell mechanism device according to the present invention expands by attaching various kinds of units corresponding to various applications to its rotor. A straight-line mechanism causes a point to travel in a straight line, or in a nearly straight line, without being guided by a plane surface. It is possible to generate an exact straight line using the slider crank mechanism but the range of motion is limited. wherein a rotation unit having a rotor is coupled to the pivoting member. 15, 2011, WIPO, 4 pages. In certain design requirements such as design of production machinery it is desirable to have more accurate straight line paths or sometimes it becomes inevitable to have exact straight line trajectories of mechanisms. Scott-Russell mechanism: The schematic of a flexure hinge-based Scott-Russell mechanism is depicted in Figure 3. wherein the degree of the curve of the main arm member is defined such that the second section of the main arm member becomes at a substantially parallel angle to the sub arm member when the angle changer changes the coupling angle so that the base end parts of the main arm member and the sub arm member are most separated from each other. Thus, when the coupling angle is changed so that a base end part of the main arm member and a base end part of the sub arm member are most separated from each other, a tip end part of the main arm member can be moved close to right beside the base end part of the sub arm member. 11. Moreover, in the present invention, the gripping unit is attached to the tip end side of the pivoting unit. Furthermore, in the Scott Russell mechanism device according to the present invention, a rotation unit having a rotor may be coupled to the joint unit. Moreover, in the Scott Russell mechanism device according to the present invention, a pivoting member may be pivotably coupled to the joint unit.
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