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Furthermore, Patent Document 4 discloses a Scott Russell mechanism applied to an industrial robot. Japanese Patent Office, International Search Report of PCT/JP2011/058124, Jun. Il permet de dtailler la liste des options de recherche, qui modifieront les termes saisis pour correspondre la slection actuelle. a pivot driving unit for pivoting the joint unit via the pivoting mechanism unit independently from the angle change by the angle changer. 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, a Scott-Russell mechanism and lever mechanism are arranged in series for constituting a two-grade displacement amplifier to conquer the small displacement of PZTs in each axis. Moreover, in the Scott Russell mechanism device according to the present invention, the sub arm member may be linearly formed. However, a bridge-type mechanism with an external load always works in an energy-inefcient situation due to the storage of strain energy in the exural hinges, which can be validated by the analytical model established in this paper. [1] . 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. [1][2], A different form of the linkage has been used in a front-wheel-drive vehicle with solid rear axle to control lateral movement, and with a flexing elastomeric connection instead of the rolling or sliding connection. An axis of the pivot of the pivoting member may be in parallel to the pivoting axis of the joint unit. A Scott Russell mechanism device pivotably couples a main arm member and a sub arm member to each other, as well as it pivotably couples a joint unit to a tip end part of the main arm member. In order to solve the above problem, a 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. With the Scott Russell mechanism device, a moving range of the tip end side of the main arm member can be enlarged. However, since both of the arm members are arranged offset from each other in the overlapped direction, a problem arises that the thickness dimension (dimension in the direction overlapping both of the arm members) of the device increases, and since the centers of both of the arm members in the thickness direction do not match with each other, a problem also arises that the balance in weight degrades in both of the entire arm members. Application: used to connect intersecting shafts . You can help Wikipedia by expanding it. Further, in the present invention, the gripping unit is attached to the rotor of the rotation unit. [1] [2] Learn CAD with SolidWorks 2008- Create new sketch tutorial by John Sinitsky, Creating new file in CAD program - Overview of SolidWorks2008 Menu by John Sinitsky. 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. Thus, the degree of posturing freedom of the rotor of the rotation unit positioned to the farthest tip end increases, and the application of the Scott Russell mechanism device according to the present invention further expands. Moreover, in the present invention, pivoting member is pivotably coupled to the joint unit and the rotation unit having the rotor is coupled to the pivoting member. ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SASAKI, HIROMICHI;SHIMIZU, MIKIO;ICHIKAWA, YASUNORI;REEL/FRAME:031303/0431, PAYMENT OF MAINTENANCE FEE, 4TH YR, SMALL ENTITY (ORIGINAL EVENT CODE: M2551); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY. This paper will discuss the mechanical design theoretical modeling and analyses, finite element analysis and experimental verification. Therefore, by the rotor of the rotation unit where the amount of the postural displacement is increased compared to the conventional device, the Scott Russell mechanism device according to the present invention can be applied to the application of performing the gripping while flexibly responding to the orientation of a workpiece as a gripping target. Additional . A tip end part of a main arm member of a Scott Russell mechanism is enabled to be brought close to a base end part of a sub arm member. Patent Document 1 discloses a Scott Russell mechanism applied to an industrial robot. cylindrical coordinate type or polar coordinate type, 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, The United States Of America As Represented By The Secretary Of The Navy, Gilman Engineering & Manufacturing Co., Llc, The Regents Of The University Of Michigan, ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SASAKI, HIROMICHI;SHIMIZU, MIKIO;ICHIKAWA, YASUNORI;REEL/FRAME:031303/0520, PAYMENT OF MAINTENANCE FEE, 4TH YR, SMALL ENTITY (ORIGINAL EVENT CODE: M2551); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY, Motor-driven articulated arm with cable capstan including a brake, Substrate transfer unit, substrate treating apparatus including the same, and substrate treating method, Drive mechanism and manufacturing apparatus, Based on the collapsible explorer mechanical arm of triangle configuration link transmission, Device for carrying out a phase-locked linear displacement of two shafts arranged in parallel, Picking mechanism with metamorphic function, Bending apparatus for material testing and micro-ct imaging, mechanical arm with synchronous belt transmission device, Suitable for the lifting mechanism of disk-like accessory, STRIP CUTTING SYSTEM BY HELICOIDAL KNIVES AND CORRESPONDING CUTTING PROCESS, Motorized manipulator of the cable transmission type having an increased field of action, Scara type robot with counterbalanced arms, Pick and place device having two parallel axes, Improvements in or relating to overhead electric traction systems, Joint structure of arm, etc. 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. 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. The mechanism to the right can be refered to as the Scott Russell Mechanism or a more descriptive name is the Scott Russell Exact Straight Line Mechanism. Machine Kinematics Questions and Answers - Application of Kutzbach Criterion to Plane Mechanisms ; advertisement. wherein an axis of the pivot of the pivoting member is in parallel to the pivoting axis of the joint unit, and. The distance from the pivot driving unit to the joint unit becomes closer, and the transmission mechanism regarding the drive can be coordinated compactly. Furthermore, Patent Document 4 discloses a Scott . PATENTED CASE, Free format text: A pivoting unit having a pivoting part that is pivotable centering on an axis in parallel to the pivoting axis of the joint unit may be coupled to the rotor of the rotation unit. A rotation unit having a rotor may be coupled to the pivoting member. Application: Creates an approximate straight line . A pivoting axis of the pivot of the joint unit may be in parallel to an axis of the pivots of the main arm member and the sub arm member at the coupling position. The present invention is made in view of the above situations, and 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 the 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. Ce bouton affiche le type de recherche actuellement slectionn. The linkage is named after John Scott Russell (1808-1882), although watchmaker William Freemantle had already patented it in 1803. The present invention relates to a device applied with a Scott Russell mechanism where a main arm member and a sub arm member are coupled to each other and a coupling angle therebetween is changeable, and particularly relates to a Scott Russell mechanism device that can allow a tip end part of a main arm member to approach a sub arm member without interfering even in a case where the coupling angle of the base end parts of the main arm member and the sub arm member is changed so that the base end parts are spaced from each other, and can attach various kinds of units to the tip end side of the main arm member and change postures of the units in a wide range. 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. 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. These mechanisms are simple linkage mechanisms with revolute joints, but they can only generate approximate straight lines and that too only for short lengths. Therefore, the gripping unit can be pivoted proximally to the workpiece which is the gripping target, and the Scott Russell mechanism device including a gripping function suitable for such a gripping application can be provided. Until recently, The Scott-Russell mechanismThe structural application of flexure hinges in the SR amplifying mechanism is especially important to practically play an important role in the positioning stage and precision cutting. 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. Moreover, in the present invention, the base end part of either one of the sub arm member or the main arm member is linearly movable by the second ball screw. In this mechanism, the centres Oand O1 are fixed.. In the present invention, the gripping unit is attached to the rotor of the rotation unit. cartesian coordinate type, Programme-controlled manipulators characterised by movement of the arms, e.g. Freemantle straight-line linkage from British Patent 2741, November 17, 1803. Scott Russell's Mechanism - Special Mechanism - Kinematics of Machinery Ekeeda 914K subscribers Subscribe 44 2.1K views 7 months ago Subject - Kinematics of Machinery Video Name - Scott. 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. . 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. When linkage mechanisms are designed to generate exact straight lines the level of complexity increases as compared to the mechanisms designed to generate approximate straight line paths. Therefore, the posture of the joint unit can be controlled freely. With the industrial robot according to Patent Document 1, a main arm member (the first arm 31 in Patent Document 1) and a sub arm member (the second arm 32 in Patent Document 1) have fixed thicknesses to secure a desired rigidity (have fixed width and thickness dimensions in cross-sections orthogonal to longitudinal directions of both of the arm members), and thus, as base end parts of both of the arm members (end parts on the screw shaft 21 side in Patent Document 1) are spaced from each other, the arm members interfere with each other at a coupling position of both of the arm members, and a problem arises that the tip end part of the main arm member (end part on the side where the holder H is provided in Patent Document 1) cannot be moved proximally to the sub arm member (a problem arises that the holder H is hard to be moved close at hand to the screw shaft 21 side). 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. 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. This mecha- tion of point E, as shown in Figure 2 (a) [8-10]. LADDERS, FOOT MECHANISMS FOR LADDERS, AND RELATED METHODS Publication number: 20220381087 A pivoting unit having a pivoting part that is pivotable centering on an axis in parallel to the pivoting axis of the joint unit may be coupled to the rotor of the rotation unit. The Scott Russell mechanism device of. An axis of the pivot of the pivoting member may be in parallel to the pivoting axis of the joint unit. Since the postures of these units on the tip end side depend on the direction (posture) of the tip end of the main arm member, a problem arises that a range in which the postures of the units attached to the tip end of the main arm member can be changed is limited. 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. Bridge-type amplification mechanism Bridge-type mechanism, rhombic mechanism, double-rocker mechanism, scott-russell mechanism, honey comb mechanism, and lever mechanism are a few amplification mechanisms which have been used for micro/nano manipulation purposes [ 33, 34, 35, 36, 37 ]. Either one of the base end part of the sub arm member or the base end part of the main arm member may be pivotably coupled to the second linearly-moving unit about the virtual straight line as the pivoting axis thereof. This paper describes the development of a gecko-inspired robotic gripper for grasping flat objects using Scott-Russell mechanisms. A pivoting axis of the pivot of the joint unit may be in parallel to an axis of the pivots of the main arm member and the sub arm member at the coupling position. Moreover, with the industrial robot according to Patent Document 1, both of the arm members are rotated (turned) about the screw shaft 21 as a rotation center (turning center), then all of the industrial robot including the screw shaft 21 is turned, and thus a problem arises that a drive torque for the turning increases. Therefore, even if the main arm member and the sub arm member are not arranged to offset from each other, interference between the arm members at the coupling position of both of the arm members can be subsided, and compared to the conventional device without an offset arrangement, the tip end part of the main arm member can be drawn close to the sub arm member. There are many mechanisms based on slider crank linkage which can generate exact straight lines for limited intervals.