scott russell mechanism application scott russell mechanism application

cartesian coordinate type, Programme-controlled manipulators characterised by movement of the arms, e.g. 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. Ce bouton affiche le type de recherche actuellement slectionn. It is possible to generate an exact straight line using the slider crank mechanism but the range of motion is limited. Relative motion angles other than 90 degrees are possible by simply rotating the fixed guide. US 9,505,138 B2 device. Further, in the Scott Russell mechanism device according to the present invention, a gripping unit may be attached to the rotor of the rotation unit. Furthermore, Patent Document 4 discloses a Scott Russell mechanism applied to an industrial robot. 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. In order to solve the above problem, a Scott Russell mechanism device according to the present invention includes a main arm member, a sub arm member pivotably coupled to the main arm member, and an angle changer for changing a coupling angle between the main arm member and the sub arm member. This paper describes the design of an exact straight line motion mechanism, commonly known as a Scott-Russell mechanism (SRM), for industrial application. Therefore, a plurality of variations can be provided to the method of moving the base end part of both of the arm members, resulting in being able to flexibly perform the moving of the tip end part of the main arm member. A systematic, if not rigorous, approach to the design of gears and cams also is usually presented in such a course. SCOTT RUSSEL MECHANISM [THEORY OF MACHINES] 1,251 views Sep 9, 2018 A Scott Russell linkage gives a theoretically linear motion by using a linkage form with three portions of the links all. Application: Creates an approximate straight line . wherein a base end part of the main arm member and a base end part of the sub arm member that is on the opposite side from the coupling side of the sub arm member are positioned on the same virtual straight line, and a first distance from the base end part of the main arm member to a coupling position of the main arm member to the sub arm member, a second distance from the coupling position of the main arm member to a tip end part thereof, and a third distance from the base end part of the sub arm member to the coupling position are equal to each other. 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. European Patent Office, Extended European Search Report Issued in Application No. CORROSION 2003 (1) CORROSION 2004 (1) International Petroleum Technology Conference (1) Offshore Technology Conference Asia (1) Publisher. mechanism of machinery straight and parallel line mechanism table of contents straight line mechanism introduction history different mechanism used for It can be used to form a right-angle change of motion, linear-to-linear. 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. This mechanism can generate an exact straight line if the link dimensions are correct. Therefore, the posture of the joint unit can be controlled freely, and additionally, since the pivot driving unit is provided from the coupling position toward the tip end side of the main arm member, the distance to the joint unit becomes close, and the drive transmission mechanism can be scaled down. The 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. With the Scott Russell mechanism device, a moving range of the tip end side of the main arm member can be enlarged. Two equal length length links are connected to the opposite corners of the rhombus at one end and to a common fixed point at the other ends. For this description to be true the acting length of the short link, the blue one, needs to be half as long as the active length of the green one and the pin that connects them must be . 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. Haluck 2002). Furthermore, in the Scott Russell mechanism device according to the present invention, the angle changer may also have a second ball screw arranged in parallel to the first ball screw, and a second linearly-moving unit for being linearly moved by a rotation of the second ball screw. 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. The displacement amplification mechanism has the primary role in sensitivity and performance analysis of micro-devices (Iqbal and Malik 2019). 1 (b), where the condition that the motion of the point B follows a vertical motion when the driving point A moves along horizontal direction is that the links AC=BC=OC. Library of Congress Cataloging-in-Publication Data Russell, Stuart J. The length of the link 2 is equal to the distance between points O2 and O4. This paper presents the structural design and analysis of a novel compliant gripper based on the Scott-Russell (SR) mechanism. LADDERS, FOOT MECHANISMS FOR LADDERS, AND RELATED METHODS Publication number: 20220381087 Moreover, in each of the above-described patent documents, various kinds of units, such as the holder, the arm, and the hand, are attached to the tip end of the main arm member. 11. Note that, the substantially parallel angle means that it does not require an accurate parallelism with respect to the sub arm member but includes a slight angle variation, and in the present invention, the substantially parallel angle can be said to be parallel as long as it is within a range of 10 with respect to the axis of the sub arm member in the longitude direction (also in other parts of description a variation range of 10 with respect to the accurate parallelism is included in the meaning of the phrase substantially parallel). Furthermore, in the Scott Russell mechanism device according to the present invention, a base end part of the main arm member and a base end part of the sub arm member that is on the opposite side from the coupling side of the sub arm member are positioned on the same virtual straight line. Further, in the present invention, the gripping unit is attached to the rotor of the rotation unit. A rotation unit having a rotor may be coupled to the pivoting member. Therefore, the rotation unit attached to the joint unit via the pivoting member can displace its rotor independently of the displacement of the tip end part of the main arm member. The device may include a pivoting mechanism unit for automatically pivoting the joint unit cooperating with the angle change by the angle changer, a pivot driving unit for pivoting the joint unit via the pivoting mechanism unit independently from the angle change by the angle changer. Further, in the Scott Russell mechanism device according to the present invention, a gripping unit may be attached to the rotor of the rotation unit. Moreover, in the present invention, the gripping unit is attached to the tip end side of the pivoting unit. In the present invention, the pivoting member is pivotably coupled to the joint unit and the rotation unit having the rotor is coupled to the pivoting 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. Peaucellier linkage can convert an input circular motion to the exact straight line motion. Further, as for the positioning transport device according to Patent Document 2, the drive structure of the feed arm according to Patent Document 3, the industrial robot according to the Patent Document 4, and the transport device according to Patent Document 5, the main arm member and the sub arm member are overlapped on and coupled to each other in a thickness direction, and thus, the tip end part of the main arm member is easily drawn proximally to the sub arm member. Therefore, the posture of the joint unit can be controlled freely. 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. 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. 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. In the present invention, either one of the base end parts of both of the arm members is linearly moved by the rotation of the first ball screw, and the pivots (turnings) of both of the arm members are driven about the virtual straight line connecting the base end parts of both arm members therebetween as the pivoting axis thereof, resulting in only both of the arm members turning. Debates (Hansard) No. Moreover, Patent Document 3 discloses a Scott Russell mechanism applied to a drive structure of a feed arm. 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. 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, Improvements in or relating to overhead electric traction systems, Robot arm for use with injection moulding machine, Joint structure of arm, etc. 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. In each of the applets, drag the sliders to change the shape of the path of the free point to obtain the longest possible straight path. In the present invention, the joint unit, the rotation unit, and the pivoting unit are coupled to each other in this order. The Scott Russell mechanism device of, 12. The device may include a pivoting drive source for driving the pivots of the main arm member and the sub arm member centering on the pivoting axis. Therefore, compared to the conventional device, a drive torque caused by the turning can be reduced, and both of the arm members can be turned smoothly. 10, 2015, Germany, 6 pages. Simply download our free CAD . Echinacea. 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. Scott Russell mechanism developed by John Scott Russell (1808-1882), although already patented in 1803 by watchmaker William Freemantle, gives a theoretically linear motion by using a linkage form with three portions of the links all equal, and a rolling or sliding connection. In the present invention, the main arm member is formed into the boomerang-like shape to detour to the opposite side of the side where the sub arm member is positioned. Furthermore, in the Scott Russell mechanism device according to the present invention, the angle changer may also have a second ball screw arranged in parallel to the first ball screw, and a second linearly-moving unit for being linearly moved by a rotation of the second ball screw. 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. Il permet de dtailler la liste des options de recherche, qui modifieront les termes saisis pour correspondre la slection actuelle. Patent Document 1 discloses a Scott Russell mechanism applied to a industrial robot. a second ball screw arranged in parallel to the first ball screw; and, a second linearly-moving unit for being linearly moved by a rotation of the second ball screw, and, wherein either one of the base end part of the sub arm member or the base end part of the main arm member is pivotably coupled to the second linearly-moving unit about the virtual straight line as the pivoting axis thereof. One such example is Scott-Russell Mechanism as shown in the figure. ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SASAKI, HIROMICHI;SHIMIZU, MIKIO;ICHIKAWA, YASUNORI;REEL/FRAME:031303/0431, Free format text: STRAIGHT LINE MOTION MECHANISM Converts rotary motion into a straight line motion. One link is double the size of the other, and is connected to the smaller link by its midpoint. Patent Document 1 discloses a Scott Russell mechanism applied to an industrial robot. Owner name: The locus of the straight line is the same as the travel of the slider for 90 degrees rotation of the crank. 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. 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. The requirements of the design are identified and the modelling phases of the mechanism are described. The construction of this mechanism is such that the point which is connected to the crank moves in a circular path and the point traversing the straight line is selected as the output point. 4. 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. Freemantle straight-line linkage from British Patent 2741, November 17, 1803. The proposed stage showed the first natural frequency of 57 Hz and the maximum stroke of 122.84 m, 108.46 m, 0.685 mrad in the x-, y-, and -direction, respectively. The mechanism with bridge-type flexure hinges is developed and optimized to amplify the displacement of a multilayer piezostack by Kim et al. It is possible to generate an exact straight line using the slider crank mechanism but the range of motion is limited. Machines as simple as livers, machines such as James Watts steam engine and the industrial robots such as PUMA all are composed of mechanisms whether simple, complex or combination of many simple and complex mechanisms. The first exact straight line generating mechanism was invented by a French army officer Charles Nicolas Peaucellier in 1864. 9.8. It consists of both sliding and turning pairs Download Solution PDF Share on Whatsapp Assignors: ICHIKAWA, YASUNORI, SASAKI, HIROMICHI, SHIMIZU, MIKIO, HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS, MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES, Programme-controlled manipulators characterised by movement of the arms, e.g. 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, the pivot driving unit is provided at any portion from the coupling position to the tip end side of the main 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.. 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, Patent Document 4 discloses a Scott . In the present invention, either one of the base end parts of both of the arm members is linearly moved by the rotation of the first ball screw, and the pivots (turnings) of both of the arm members are driven about the virtual straight line connecting the base end parts of both arm members therebetween as the pivoting axis thereof, resulting in only both of the arm members turning. wherein either one of the base end part of the sub arm member or the base end part of the main arm member is pivotably coupled to the second linearly-moving unit about the virtual straight line as the pivoting axis thereof. [3], The linkage does not share the disadvantages of the asymmetric Panhard rod, and although more compact than Watt's linkage, it has all the forces concentrated in one link.[4]. 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. Further, when both of the base end parts of both of the arm members are moved in the same direction by the same amount, both of the arm members can be moved entirely while keeping their postures. Further, Patent Document 2 discloses a Scott Russell mechanism applied to a positioning transport device. 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. Scott-Russell mechanism: The schematic of a flexure hinge-based Scott-Russell mechanism is depicted in Figure 3. 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. 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. PATENTED CASE, Free format text: The angle changer may have a first ball screw arranged in parallel to the virtual straight line, and a first linearly-moving unit for being linearly moved by a rotation of the first ball screw. 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). 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. A Scott Russell linkage is a linkage which translates linear motion through a right angle. wherein the device comprises a pivoting drive source for driving the pivots of the main arm member and the sub arm member centering on the pivoting axis. 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. It is evident from the figure that this mechanism is made up of isosceles triangles, AB, AC and AO2 are of equal lengths. A Scott Russell linkage is a linkage which translates linear motion through a right angle. 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, 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. Therefore, the first ball screw will be excluded from the turning targets, compared to the turnings of both of the arm members of the industrial robot relating to the reference document 1 described above, a drive torque caused by the turn is reduced, and both of the arm members can be turned smoothly. 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 . The linkage is named after John Scott Russell (18081882), although watchmaker William Freemantle had already patented it in 1803. A Scott Russell mechanism is a mechanism where a linear main arm member is pivotably coupled to a sub arm member, a distance from a base end part of the main arm member to a coupling position thereof, a distance from the coupling position of the main arm member to a tip end part thereof, and a distance from a coupling position of the sub arm member to a base end part thereof are all equal to each other, and in a case where a coupling angle between both of the arm members is changed, the tip end part of the main arm member linearly moves along a straight line connecting the tip end part of the main arm member and the based end part of the sub arm member. All Rights Reserved. Moreover, in the Scott Russell mechanism device according to the present invention, a pivoting member may be pivotably coupled to 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. This mechanism is a modification of modified Scott-Russel'smechanism with the difference that the point Pdoes not slide along a straight line, but moves in a circular arc with centre O. A joint unit pivotably coupled to a tip end part of a main arm member of a Scott Russell mechanism is pivoted in two ways. Scott Russell mechanism applied to a drive structure of a feed arm. Until recently, Copyright 2022 Bright Hub PM. [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. This paper presents the structural design and analysis of a novel compliant gripper based on the Scott-Russell (SR) mechanism. In the present invention, the rotation unit having the rotor is coupled to the joint unit. wherein the device comprises a pivoting drive source for driving the pivots of the main arm member and the sub arm member centering on the pivoting axis. Actuator mechanism and centrifuge having actuator mechanism, Multi-Functional Fixed Robot with Horizontal Maintenance Unit, Table drive device and work system equipped with table drive device, Driving equipment and the Workpiece clamping unit equipped with the driving equipment. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. The Scott Russell mechanism device of, 15. wherein an axis of the pivot of the pivoting member is in parallel to the pivoting axis of the joint unit, and. You can help Wikipedia by expanding it. IPTC (1) NACE (2) OTC (1) Date. The SR mechanism in combination with a parallelogram mechanism enables. 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. 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. In the present invention, the pivoting member is pivotably coupled to the joint unit and the rotation unit having the rotor is coupled to the pivoting member. 19, 2012, WIPO, 4 pages. The Scott Russell mechanism device of, 17. 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, 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. If both ends are turned into sliding connections, you get a Trammel of Archimedes. In the present invention, the gripping unit is attached to the tip end side of the pivoting unit. Conventionally, various kinds of devices using a Scott Russell mechanism exist. The linkage has a rhombic loop formed of the equal lenght members, 5, 6, 7 and 8. Therefore, a plurality of variations can be provided to the method of moving the base end part of both of the arm members, resulting in being able to flexibly perform the moving of the tip end part of the main arm member. The angle changer may have a first ball screw arranged in parallel to the virtual straight line, and a first linearly-moving unit for being linearly moved by a rotation of the first ball screw. Developed by James Watt for reciprocating piston of steam engine. Further, in the present invention, the gripping unit is attached to the rotor of the rotation 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. There are many mechanisms based on slider crank linkage which can generate exact straight lines for limited intervals. A standard Scott Russell straight- mechanism was invented by a French army officer, line mechanism provides an exact straight-line mo- Charles Nicolas Peaucellier, in 1864. It is shown that O is a fixed pin joint, A is the input point to be driven by a PSA, and B is the output point.