cartesian coordinate type, Programme-controlled manipulators characterised by movement of the arms, e.g. 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. In the present invention, the gripping unit is attached to the tip end side of the pivoting unit. 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. 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. 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. This paper describes the development of a gecko-inspired robotic gripper for grasping flat objects using Scott-Russell mechanisms. . PDF Machines And Mechanisms 4th Edition Solution Manual ; Cgeprginia Scott Russell has filed for patents to protect the following inventions. 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. 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. The optimally-designed stage was fabricated by wire electrical discharge machining and tested to investigate its performance. 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. Conventionally, various kinds of devices using a Scott Russell mechanism exist. Therefore, as for the application of the Scott Russell mechanism device according to the present . Scott-Russell variation #1. 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 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. Moreover, Patent Document 3 discloses a Scott Russell mechanism applied to a drive structure of a feed arm. The Scott Russell mechanism device of, 17. 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. The first exact straight line generating mechanism was invented by a French army officer Charles Nicolas Peaucellier in 1864. Moreover, in the Scott Russell mechanism device according to the present invention, a pivoting member may be pivotably coupled to the joint unit. [1] . Debates (Hansard) No. Japanese Patent Office, International Search Report of PCT/JP2011/058124, Jun. Stuart J. Russell and Peter Norvig Upper Saddle River, New Jersey 07458. 4. This paper will discuss the mechanical design theoretical modeling and analyses, finite element analysis and experimental verification. 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. In the present invention, the gripping unit is attached to the rotor of the rotation unit. 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. Additional . 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. 11. 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. 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. One of the ends is then connected to something that can generate linear motion, such as a rolling or sliding connection, or another straight line mechanism. 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. 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. It is possible to generate an exact straight line using the slider crank mechanism but the range of motion is limited. PATENTED CASE, Free format text: Until recently, Moreover, in the Scott Russell mechanism device according to the present invention, the sub arm member may be linearly formed. 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. 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. 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. 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. Development of a highly efficient bridge-type mechanism based on an angle changer for changing a coupling angle between the main arm member and the sub arm member. 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. 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. An interesting mechanism to consider in designing leverage devices with flextensional joints is the Scott -Russel, also known as half beam mechanism, which is described geometrically in Fig.. A Scott Russell linkage is a linkage which translates linear motion through a right angle. 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. Manufacturing methods for gripping devices, robot devices, control methods, control programs, recording media, and articles. 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. 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. 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. Explanation: Scott Russell's mechanism is an exact straight line mechanism, however this mechanism is not so useful for practical purposes as friction and wear of sliding pair is more than that of turning pair. [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. The Scott Russell mechanism device of, 19. PDF Review Article on Displacement and Force Compliant Mechanism Amplifier 19, 2012, WIPO, 4 pages. 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 Scott Russell mechanism device of, 13. 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. 3. Therefore, the application of the Scott Russell mechanism device according to the present invention expands. 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. (PDF) Mechanics of Machinery I | Tareq shaban - Academia.edu The connections between links are modeled as providing ideal movement, pure rotation or sliding for example, and are called joints. This mechanism can generate an exact straight line if the link dimensions are correct. 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 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 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. 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. The dynamic equations of a micro-positioning Scott-Russell (SR) mechanism associated with . The Scott Russell mechanism device of, 15. SCOTT RUSSEL MECHANISM [THEORY OF MACHINES] - YouTube The SR mechanism in combination with a parallelogram mechanism enables. straight line motion mechanism - SlideShare 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. 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. 11862054.1, Mar. 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. 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. Therefore, the application of the Scott Russell mechanism device according to the present invention expands. US 9,505,138 B2 device. Modelling and Simulation of a Straight Line Motion Mechanism for 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 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. On this Wikipedia the language links are at the top of the page across from the article title. 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. 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. The movement of a body, or link, is studied using geometry so the link is considered to be rigid. The locus of the straight line is the same as the travel of the slider for 90 degrees rotation of the crank. 10, 2015, Germany, 6 pages. 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.