Parallel control arm with two branches
AssigneeCommissariat A L'Enegie Atomique
InventorsFlorian Gosselin, Alain Riwan
Life of this patent
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Abstract
The robot arm is composed of two parallel branches (2, 3) formed from a reduced number of segments (5, 6, 7) and connected to each other by a wrist (5) through a wrist holder (8), the directions of which are kept approximately constant by transmissions (12 to 16). The working space of this control arm is large and it is free of any kinetic singularities except at the end positions, and good decoupling of translation and rotation movements is achieved.
Claims14
Control arm comprising two branches (2, 3) extending between a common base (1) and a common wrist (4), characterized in that it comprises wrist holders (8) placed between the wrist (8) and the branches (2, 3) and means of keeping the angles between the wrist holders (8) and the fixed planes constant.
Control arm according to claim 9, characterized in that it also comprises a force feedback motor installed on a portion of the base (7) and a device for transmission of this force to the handle.
Dependencies are inferred from the claim text.