US 4,900,218 A · Robot arm structure

Abstract

Disclosed is a flexible robot arm structure utilizing an elongate skeletal frame member which can be controlled to assume any of a number of curved shapes as in the performance of automated operations. The arm functions somewhat like the body of a snake or an elephant's trunk. The skeletal frame defines a plurality of similar elemental segments disclosed in the form of disc-like structures as well as turns in a helical loading configuration. The helical form includes interleaved flexible helix members interconnected in a chain-link form. Displacement of sections in the arm is accomplished by the action of two separate mechanisms. A deflection mechanism provides power to flex or curve an arm section while a distribution mechanism distributes the curvature along the length of the arm to seek a smooth, circular curve. Illustrative embodiments use hydraulic actuators integral with the frame; however, equivalents are disclosed. The resulting arm is a highly repetitive, mechanical structure.

Claims4

Dependent claims

An elongate flexible load structure comprising:

a first helical member of plural turns and comprising flexible material;
a second helical member of plural turns and comprising flexible material, said first and second helical members being matingly interleaved;
means for interconnecting plural turns of said first helical member with plural turns of said second helical member;
and
plural force means for driving said means for interconnecting whereby to attain specific space relationships between said interleaved turns.

2 more elements

Dependencies are inferred from the claim text.

Robot arm structure

Life of this patent

Robot arm structure

Life of this patent

Abstract

Claims4