A robotic manipulator arm system comprises a mechanical arm that forms a pantograph mechanism and comprises a first primary member 25 pivotally mounted to a fixed point or a base 14, a second primary member 29 pivotally connected to the first primary member 25, a drive member 23 connected to the first primary member 25 and a motion coupling mechanism comprising a motion coupling member 27 that couples the drive member 23 to the second primary member 29 and an actuation mechanism 17 to 22 configured to drive the drive member 23 in at least two axes. The motion coupling mechanism links input motion applied to the drive member 23 to output motion at a distal end of the second primary member 29. The arm is configured to receive driving input motion from the actuation mechanism at the drive member 23 and produce geometrically similar, scaled output motion at the distal end of the second primary member 29. A working platform 31 may be connected to a distal end of the second primary member 29 and maintained at a constant orientation relative to the ground as the arm articulates to any position. The load applied to the working platform 31 may be counterbalanced by a force balance element such as a adjustable pneumatic pressure cylinder 15. The arm may be counterbalanced by a balance weight element such as a spring (38 fig. 6).
Load compensated mechanical arm with cartesian motion
2021-07-14
Patent
Electronic Resource
English
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