Scott Russell Business Consultant Santa Barbara, California, United States 2K followers 500+ connections Join to connect Proactivate Consulting LLC About A Senior Business Executive with a. In the present invention, the joint unit, the rotation unit, and the pivoting unit are coupled to each other in this order. The device may include a pivot driving unit provided at any portion from the coupling position toward the tip end side of the main arm member and for pivoting the joint unit. 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. 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. Patent Document 1 discloses a Scott Russell mechanism applied to a industrial robot. Highlight matches. Scott Russell mechanism applied to a drive structure of a feed arm. This mechanism has eight members and six joints.if(typeof ez_ad_units!='undefined'){ez_ad_units.push([[250,250],'brighthubengineering_com-large-mobile-banner-2','ezslot_15',179,'0','0'])};__ez_fad_position('div-gpt-ad-brighthubengineering_com-large-mobile-banner-2-0'); The complexity of the mechanisms to generate exact straight lines can be reduced by introduction of one or more slider crank linkages. 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. 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 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, Programme-controlled manipulators characterised by movement of the arms, e.g. 9.8. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). This article about an automotive technology is a stub. 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, and, wherein either one of the base end part of the main arm member or the base end part of the sub arm member is pivotably coupled to the first linearly-moving unit about the virtual straight line as the pivoting axis thereof, and. 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. SQUSE INC., JAPAN, Free format text: It is evident from the figure that this mechanism is made up of isosceles triangles, AB, AC and AO2 are of equal lengths. Therefore, the application of the Scott Russell mechanism device according to the present invention expands. 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 attach units to the tip end side of the main arm member and change postures of the units variously. Scott A. Russell has filed for patents to protect the following inventions. Application: Creates an approximate straight line . 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. All Rights Reserved. The Scott Russell mechanism device of, 13. Owner name: The connections between links are modeled as providing ideal movement, pure rotation or sliding for example, and are called joints. US 9,505,138 B2 10 45 . 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). 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 Specifically, the tip end part of the main arm member can be moved by only moving the base end part of the main arm member, by only moving the base end part of the sub arm member, or by moving both of the base end parts of both of the arm members, respectively. cartesian coordinate type, Programme-controlled manipulators characterised by movement of the arms, e.g. 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. 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. Conventionally, various kinds of devices using a Scott Russell mechanism exist. 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. 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. You can help Wikipedia by expanding it. Therefore, since the rotation unit has the rotor that is rotatable independently to the displacement of the tip end part of the main arm member, the degree of freedom of the posture of the rotor of the rotation unit provided to the tip end side of the main arm member improves. With the Scott Russell mechanism device, a moving range of the tip end side of the main arm member can be enlarged. The Scott Russell mechanism device of. 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. Compared to previously reported grippers that utilize gecko-like adhesives, the one presented here produces higher normal adhesion and has robustness and controllability advantages. 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. As point A moves vertically, point B moves horizontally. Therefore, as for the application of the Scott Russell mechanism device according to the present invention, the posture of the joint unit can be changed in the total of two kinds of manners. Moreover, 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. 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. Furthermore, Patent Document 4 discloses a Scott Russell mechanism applied to an industrial robot. This paper describes the design of an exact straight line motion mechanism, commonly known as a Scott-Russell mechanism (SRM), for industrial application. 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, Patent Document 3 discloses a Scott Russell mechanism applied to a drive structure of a feed arm. 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. Scott-Russell mechanism. 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. 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. Application: this is a mechanism for connecting two shafts having parallel misalignment. 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 to the angle change. a pivoting unit having a pivoting part that is pivotable centering on an axis in parallel to the pivoting axis of the joint unit is coupled to the rotor of the rotation unit. In the present invention, the joint unit, the rotation unit, and the pivoting unit are coupled to each other in this order. 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. A dialindicator is a precision measuring tool that uses a needle or pointer to display a measurement on a dial. Moreover, in the present invention, the pivot of the joint unit pivotably coupled to the tip end part of the main arm member is driven by the pivot driving unit. Figure 3. Schematic of a Scott-Russell mechanism using flexure hinges Open in viewer The Scott Russel mechanism converts linear motion in one direction to another direction. Theory of Machines and Mechanisms - John J. Uicker 2003 This work is a supplement to accompany the authors' main text. It can be used to form a right-angle change of motion, linear-to-linear. An axis of the pivot of the pivoting member may be in parallel to the pivoting axis of the joint unit. Animation of the Scott Russell Linkage attached to a Peaucellier-Lipkin Linkage. 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. 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. 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. demonstrated by a study of mechanisms already in existence, such as the linkage of a retractable landing gear, computing mechanisms, mechanisms used in an automobile, and the like. 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. An axis of the pivot of the pivoting member may be in parallel to the pivoting axis of the joint unit. [0016]. The commonly used displacement amplification compliant mechanism has plenty of categories of bridge-type mechanisms, lever mechanisms, Scott-Russell mechanisms, and many more (Xu and Li . This paper presents the structural design and analysis of a novel compliant gripper based on the Scott-Russell (SR) mechanism. Emplois Personnes LinkedIn Learning . 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. 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 main arm member and the sub arm member may be pivotable about the virtual straight line as a pivoting axis thereof. 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. 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. In the present invention, the joint unit, the rotation unit, and the pivoting unit are coupled to each other in this order. 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. Conventionally, various kinds of devices using a Scott Russell mechanism exist. It converts linear motion, to linear motion in a line roughly perpendicular to the input. The Scott Russell mechanism device of, 14. The Scott Russell mechanism device of, 19. A Scott Russell linkage is a linkage which translates linear motion through a right angle. Furthermore, Patent Document 4 discloses a Scott Russell mechanism applied to an industrial robot. 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, 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. 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 use of flexure joints in the Scott Russell mechanism provides a number of advantages over traditional revolute joints, making it a valuable technology for use in space where maintenance is difficult and costly. 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. 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. LADDERS, FOOT MECHANISMS FOR LADDERS, AND RELATED METHODS Publication number: 20220381087 Earlier than January, 2018 (2) Japanese Patent Office, International Search Report of PCT/JP2012/058634, Jun. 1. 3. 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. mechanism of machinery straight and parallel line mechanism table of contents straight line mechanism introduction history different mechanism used for 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 . 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 to the angle change. 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. an angle changer for changing a coupling angle between the main arm member and the sub arm member. Robert's Mechanism. 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. Grasshopper Mechanism: This mechanism is a modification of the Scott-Russell Mechanism. 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. The point A of the rhombus is connect to fixed point O2 through the link 2. Priority claimed from JPPCT/JP2011/058124. The flexure-based Scott-Russell mechanism can be simplified as four bar mechanism and shown in Fig. 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. These mechanisms are governed by Kinematics the study of geometry and motion. 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, as for the application of the Scott Russell mechanism device according to the present invention, the posture of the joint unit can be changed in the total of two kinds of manners. 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. PATENTED CASE, Free format text: The main arm member is formed into a boomerang-like shape such that the coupling position is curved to detour to an opposite side from the side where the sub arm member is positioned. Stuart J. Russell and Peter Norvig Upper Saddle River, New Jersey 07458. It is evident from the figure that this mechanism is made up of isosceles triangles, AB, AC and AO2 are of equal lengths. 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 ]. The linkage is named after John Scott Russell (1808-1882), although watchmaker William Freemantle had already patented it in 1803. It is a four bar mechanism and all the pairs are turning pairs as shown in Fig. 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. In this mechanism, the centres Oand O1 are fixed.. 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. Scott-Russell variation #1. 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. 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 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. 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. The Scott Russell mechanism device of, 15. The Scott Russell mechanism device of, 18. 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. KINEMATICS OF MECHANISMS FROM THE TIME OF WATT, Animation of a Scott-Russell linkage in action, https://en.wikipedia.org/w/index.php?title=Scott_Russell_linkage&oldid=1087282615, Short description is different from Wikidata, Pages using multiple image with auto scaled images, Creative Commons Attribution-ShareAlike License 3.0, This page was last edited on 11 May 2022, at 14:35. 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 design criteria of the Scott-Russell mechanism are to achieve large amplification factor and minimum motion deviation. 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. Il permet de dtailler la liste des options de recherche, qui modifieront les termes saisis pour correspondre la slection actuelle. It is possible to generate an exact straight line using the slider crank mechanism but the range of motion is limited. 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. 2- Approximate straight line mechanisms:- Modified . Includes bibliographical references and index. 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. A Scott Russell linkage is a linkage which translates linear motion through a right angle. 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. 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. Further, in the Scott Russell mechanism device according to the present invention, the main arm member and the sub arm member may be pivotable about the virtual straight line as a pivoting axis thereof. 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. 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. an angle changer for changing a coupling angle between the main arm member and the sub arm member, wherein a joint unit is pivotably coupled to the tip end part of the main arm member, and, wherein a pivoting axis of the pivot of the joint unit is in parallel to an axis of the pivots of the main arm member and the sub arm member at the coupling position, and, a pivoting mechanism unit for automatically pivoting the joint unit cooperating with the angle change by the angle changer; and. wherein a rotation unit having a rotor is coupled to the pivoting member. If both ends are turned into sliding connections, you get a Trammel of Archimedes. 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. wherein the device comprises a pivot driving unit provided at any portion from the coupling position toward the tip end side of the main arm member and for pivoting the joint unit. As detailed in the previous articles there are many four bar linkage based mechanisms which can generate straight lines. 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.
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