COMPLIANT MECHANISM

The invention relates to a compliant mechanism meant for industrial robots employed in mounting operations, for supporting cylinder-shaped pieces moving on the horizontal direction during the assembling process. According to the invention, the compliant mechanism comprises four bars (1, 2, 3 and 4)...

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Bibliographic Details
Main Authors IONITA STELA, SIMIONESCU ION, ION ION
Format Patent
LanguageEnglish
Romanian
Published 28.10.2005
Edition7
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:The invention relates to a compliant mechanism meant for industrial robots employed in mounting operations, for supporting cylinder-shaped pieces moving on the horizontal direction during the assembling process. According to the invention, the compliant mechanism comprises four bars (1, 2, 3 and 4) connected to each other by means of some joints (5, 6 and 7) and to a bed frame (8) by means of other joints (9 and 10). A screw spring (11) is movably linked to the opposite bars (1 and 3) by some joints (12 and 13) and a screw spring (14) is movably linked to the bars (2 and 4) by some joints (15 and 16). A prehension device (17) of the robot is connected to two bars (2 and 3) by a joint (6), so that the axis of one piece (18) handled by the robot concurs to the axis of said joint (6). The stiffness of the compliant mechanism is constant along any radial direction passing through the axis of the piece (18). Invenţia se referă la un mecanism compliant, destinat roboţilor industriali, folosiţi în operaţii de montare, pentru susţinerea pieselor de formă cilindrică, care se deplasează pe direcţie orizontală, în timpul procesului de asamblare. Mecanismul compliant, conform invenţiei, este alcătuit din patru bare (1, 2, 3 şi 4), conectate, între ele, prin nişte articulaţii (5, 6 şi 7) şi la un batiu (8), prin alte articulaţii (9 şi 10). De barele (1 şi 3) opuse, este legat, mobil, un arc elicoidal (11), prin nişte articulaţii (12 şi 13), iar de barele (2 şi 4), este legat, mobil, un arc elicoidal (14), prin nişte articulaţii (15 şi 16). Un dispozitiv de prehensiune (17), al robotului, este conectat de două bare (2 şi 3), printr-o articulaţie (6), astfel încât axa unei piese (18), manipulată de robot, să coincidă cu axa acestei articulaţii (6). Rigiditatea mecanismului compliant este constantă de-a lungul oricărei direcţii radiale, care trece prin axa piesei (18).
Bibliography:Application Number: RO20010001247