Conventionally, various kinds of devices using a Scott Russell mechanism exist. PAYMENT OF MAINTENANCE FEE, 4TH YR, SMALL ENTITY (ORIGINAL EVENT CODE: M2551); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY. Moreover, in the Scott Russell mechanism device according to the present invention, a pivoting member may be pivotably coupled to the joint unit. 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. Furthermore, Patent Document 4 discloses a Scott . 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 Scott Russell mechanism device of, 13. 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. It is possible to generate an exact straight line using the slider crank mechanism but the range of motion is limited. 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. In this mechanism, the slider is replaced by a link traveling . The main arm member and the sub arm member may be pivotable about the virtual straight line as a pivoting axis thereof. 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. LADDERS, FOOT MECHANISMS FOR LADDERS, AND RELATED METHODS Publication number: 20220381087 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 Scott Russell mechanism device of, 19. Patent Document 1 discloses a Scott Russell mechanism applied to an industrial robot. STRAIGHT LINE MOTION MECHANISM Converts rotary motion into a straight line motion. The Scott Russell mechanism device of. 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 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. In this mechanism, the centres Oand O1 are fixed.. A rotation unit having a rotor may be coupled to the pivoting member. It consists of both sliding and turning pairs Download Solution PDF Share on Whatsapp A mechanical linkage is an assembly of systems connected to manage forces and movement. a sub arm member pivotably coupled to the main arm member; and. 4. Debates (Hansard) No. The movement of a body, or link, is studied using geometry so the link is considered to be rigid. 11862054.1, Mar. Application: Creates an approximate straight line if sliding along flat plane. 2- Approximate straight line mechanisms:- Modified . An axis of the pivot of the pivoting member may be in parallel to the pivoting axis of the joint unit. 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. PATENTED CASE, Free format text: 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. 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, the pivot driving unit is provided at any portion from the coupling position to the tip end side of the main arm member. An 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. 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. A rotation unit having a rotor may be coupled to the pivoting member. 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. 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. 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. With the suffering came a wave of change that saw millions after their opinions towards not only war, but life itself. 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. Patent Document 1 discloses a Scott Russell mechanism applied to a industrial robot. The Scott-Russell (SR) amplifying mechanism [1] is designed for a cutting tool to amplify the PA displacement and carry out high precision for the motion control system. wherein an axis of the pivot of the pivoting member is in parallel to the pivoting axis of the joint unit, and. 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. Scott-Russell mechanism: The schematic of a flexure hinge-based Scott-Russell mechanism is depicted in Figure 3. 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. 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. In the present invention, the shape of the main arm member is a boomerang-like shape. 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. In the present invention, the gripping unit is attached to the rotor of the rotation unit. The Evans 'grasshopper' linkage is a variant of a Scott Russell linkage which uses a long link to create a large enough arc to approximate a line. Furthermore, Patent Document 4 discloses a Scott Russell mechanism applied to an industrial robot. Although the PA has many advantages, its main drawback is the hysteresis phenomena, which arises from material polarization and molecule friction [2]. The Bricard inversor directly incorporates the Scott Russell's links, replacing the previously required straight line connection and allowing for two exact straight line outputs at right angles. 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. This article about an automotive technology is a stub. 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. 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. 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. Universal Joint/Hooke's Joint. Moreover, in the Scott Russell mechanism device according to the present invention, the sub arm member may be linearly formed. 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. 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. wherein a rotation unit having a rotor is coupled to the pivoting member. 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 pivot driving unit for pivoting the joint unit via the pivoting mechanism unit independently from the angle change by the angle changer. Until recently, 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 . 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, 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. 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. (Stuart Jonathan) Instructor's solution manual for artificial intelligence : a modern approach (second edition) / Stuart Russell, Peter Norvig. Scott-Russell Exact Straight Line Mechanism: Scott-Russell The complexity of the mechanisms to generate exact straight lines can be reduced by introduction of one or more slider crank linkages. 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). 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 so as to turn only both of the arm members. A systematic, if not rigorous, approach to the design of gears and cams also is usually presented in such a course. With the industrial robot according to Patent Document 1, both of the arm members are rotated (turned) about the screw shaft. 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. The dynamic equations of a micro-positioning Scott-Russell (SR) mechanism associated with . 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 first exact straight line generating mechanism was invented by a French army officer Charles Nicolas Peaucellier in 1864. wherein the main arm member and the sub arm member are pivotable about the virtual straight line as a pivoting axis thereof, the angle changer including: 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. 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 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. 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. The bridge-type mechanism is one of the most widely used displacement ampliers in micro- scale applications. Emplois Personnes LinkedIn Learning . 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. 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. 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. PATENTED CASE, Free format text: 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. 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. Conventionally, various kinds of devices using a Scott Russell mechanism exist. 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. ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SASAKI, HIROMICHI;SHIMIZU, MIKIO;ICHIKAWA, YASUNORI;REEL/FRAME:031303/0520, Free format text: Ce bouton affiche le type de recherche actuellement slectionn. This paper presents the structural design and analysis of a novel compliant gripper based on the Scott-Russell (SR) mechanism. Stuart J. Russell and Peter Norvig Upper Saddle River, New Jersey 07458. 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. 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. Figure 3. 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. In the present invention, the joint unit, the rotation unit, and the pivoting unit are coupled to each other in this order. Fundamentals of Modern Manufacturing - Mikell P. Groover 1996-01-15 This book takes a modern, all-inclusive look at manufacturing . 19, 2012, WIPO, 4 pages. Therefore, even if the main arm member and the sub arm member are not arranged to offset from each other, when the coupling angle is changed so that the base end parts of both of the arm members are separated from each other, interference between the arm members at the coupling position of both of the arm members is subsided, and the tip end part of the main arm member is easily drawn close to the sub arm member. Haluck 2002). It contains solutions to the problems in the book and is available free of charge to adopters. ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SASAKI, HIROMICHI;SHIMIZU, MIKIO;ICHIKAWA, YASUNORI;REEL/FRAME:031303/0431, Free format text: 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. 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. In the present invention, the joint unit, the rotation unit, and the pivoting unit are coupled to each other in this order. The mechanism with bridge-type flexure hinges is developed and optimized to amplify the displacement of a multilayer piezostack by Kim et al. 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. 1. [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. Further, in the present invention, the gripping unit is attached to the rotor of the rotation unit. 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. One link is double the size of the other, and is connected to the smaller link by its midpoint. This mechanism can generate an exact straight line if the link dimensions are correct. 15, 2011, WIPO, 4 pages. 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. 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. 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. The Scott Russell mechanism device of, 17. PAYMENT OF MAINTENANCE FEE, 4TH YR, SMALL ENTITY (ORIGINAL EVENT CODE: M2551); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY. 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. 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. Moreover, in the present invention, pivoting member is pivotably coupled to the joint unit and the rotation unit having the rotor is coupled to the pivoting member. 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. The Scott-Russell mechanismThe structural application of flexure hinges in the SR amplifying mechanism is especially important to practically play an important role in the positioning stage and precision cutting. 11. Further, Patent Document 2 discloses a Scott Russell mechanism applied to a positioning transport device. 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. In the present invention, the pivoting of the joint unit pivotably coupled to the tip end part of the main arm member is driven by the pivot driving unit. Scott Russell mechanism applied to a drive structure of a feed arm. 33 - March 25, 2009 (40-2) - House of Commons of Canada 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. Machine Kinematics Questions and Answers - Application of Kutzbach Criterion to Plane Mechanisms ; advertisement. Earlier than January, 2018 (2) Grasshopper Mechanism: This mechanism is a modification of the Scott-Russell Mechanism. In the present invention, the gripping unit is attached to the tip end side of the pivoting unit. 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. The length of the link 2 is equal to the distance between points O2 and O4. Manufacturing methods for gripping devices, robot devices, control methods, control programs, recording media, and articles. 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. 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. 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. Includes bibliographical references and index. 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. [1] . [0016]. 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. When linkage mechanisms are designed to generate exact straight lines the level of complexity increases as compared to the mechanisms designed to generate approximate straight line paths.