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. US9505137B2 - Scott Russell mechanism device - Google Patents The device may include a pivoting drive source for driving the pivots of the main arm member and the sub arm member centering on the pivoting axis. 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. Classified in two types: 1- Exact straight line mechanisms:- Paucellier mechanism, Hart mechanism, Scott-Russel mechanism, Kempe mechanism,etc. (PDF) Mechanics of Machinery I | Tareq shaban - Academia.edu [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. In the present invention, the joint unit pivotably coupled to the tip end part of the main arm member can be pivoted in a 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. wherein a rotation unit having a rotor is coupled to the pivoting member. Moreover, in the Scott Russell mechanism device according to the present invention, a joint unit may be pivotably coupled to the tip end part of the main arm member. Schematic of a Scott-Russell mechanism using flexure hinges Open in viewer In the present invention, when the coupling angle is changed so that the base end parts of the main arm member and the sub arm member are most separated from each other, the degree of the curve of the main arm member is defined such that the second section of the main arm member is in a substantially parallel orientation to the linear sub arm member. 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, resulting in only both of the arm members turning. Ce bouton affiche le type de recherche actuellement slectionn. The degree of the curve of the main arm member may be defined such that the second section of the main arm member becomes at a substantially parallel angle to the sub arm member when the angle changer changes the coupling angle so that the base end parts of the main arm member and the sub arm member are most separated from each other. The Scott-Russell mechanism gives a theoretically linear motion by using a linkage form with three portions of the links all equal, and a rolling or sliding connection. Haluck 2002). 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. Patent Document 1 discloses a Scott Russell mechanism applied to a industrial robot. wherein an axis of the pivot of the pivoting member is in parallel to the pivoting axis of the joint unit, and. As detailed in the previous articles there are many four bar linkage based mechanisms which can generate straight lines. Therefore, as for the application of the Scott Russell mechanism device according to the present . 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. Figure 3. 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. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). mechanism of machinery straight and parallel line mechanism table of contents straight line mechanism introduction history different mechanism used for 1 (b), where the condition that the motion of the point B follows a vertical motion when the driving point A moves along horizontal direction is that the links AC=BC=OC. Thus, when the coupling angle is changed so that a base end part of the main arm member and a base end part of the sub arm member are most separated from each other, a tip end . New Structural Design of a Compliant Gripper Based on the Scott-Russell These mechanisms are governed by Kinematics the study of geometry and motion. 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, resulting in only both of the arm members turning. 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. The Scott Russel mechanism converts linear motion in one direction to another direction. Search Campbell, Scott: oil formation volume factor | SPE It is possible to generate an exact straight line using the slider crank mechanism but the range of motion is limited. Fundamentals of Modern Manufacturing - Mikell P. Groover 1996-01-15 This book takes a modern, all-inclusive look at manufacturing . Il permet de dtailler la liste des options de recherche, qui modifieront les termes saisis pour correspondre la slection actuelle. Micromachines | Free Full-Text | Design and Analysis of a Hybrid Echinacea. This mechanism is called as Peaucellier Exact Straight Line Mechanism and commonly more as Peaucelliers linkage. In the present invention, the joint unit, the rotation unit, and the pivoting unit are coupled to each other in this order. ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SASAKI, HIROMICHI;SHIMIZU, MIKIO;ICHIKAWA, YASUNORI;REEL/FRAME:031303/0431, PAYMENT OF MAINTENANCE FEE, 4TH YR, SMALL ENTITY (ORIGINAL EVENT CODE: M2551); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY. The displacement amplification mechanism has the primary role in sensitivity and performance analysis of micro-devices (Iqbal and Malik 2019). The dynamic equations of a micro-positioning Scott-Russell (SR) mechanism associated with . 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. Thus, the tip end part of the main arm member can be drawn more to the base end part of the sub arm member. KINEMATICS OF MECHANISMS FROM THE TIME OF WATT, Animation of a Scott-Russell linkage in action, https://en.wikipedia.org/w/index.php?title=Scott_Russell_linkage&oldid=1087282615, Short description is different from Wikidata, Pages using multiple image with auto scaled images, Creative Commons Attribution-ShareAlike License 3.0, This page was last edited on 11 May 2022, at 14:35. Further, in the present invention, the gripping unit is attached to the rotor of the rotation unit. 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. 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. The length of the link 2 is equal to the distance between points O2 and O4. 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. Exact Straight Line Mechanisms - Peaucellier linkage and Scott-Russell 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. With the industrial robot according to Patent Document 1, a main arm member (the first arm 31 in Patent Document 1) and a sub arm member (the second arm 32 in Patent Document 1) have fixed thicknesses to secure a desired rigidity (have fixed width and thickness dimensions in cross-sections orthogonal to longitudinal directions of both of the arm members), and thus, as base end parts of both of the arm members (end parts on the screw shaft 21 side in Patent Document 1) are spaced from each other, the arm members interfere with each other at a coupling position of both of the arm members, and a problem arises that the tip end part of the main arm member (end part on the side where the holder H is provided in Patent Document 1) cannot be moved proximally to the sub arm member (a problem arises that the holder H is hard to be moved close at hand to the screw shaft 21 side). Dynamic modeling of a scott-russell amplifying mechanism driven by a 33 - March 25, 2009 (40-2) - House of Commons of Canada 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. In the present invention, the main arm member is formed into the boomerang-like shape to detour to the opposite side of the side where the sub arm member is positioned. The construction of this mechanism is such that the point which is connected to the crank moves in a circular path and the point traversing the straight line is selected as the output point. Therefore, a plurality of variations can be provided to the method of moving the base end part of both of the arm members, resulting in being able to flexibly perform the moving of the tip end part of the main arm member. Learn CAD with SolidWorks 2008- Create new sketch tutorial by John Sinitsky, Creating new file in CAD program - Overview of SolidWorks2008 Menu by John Sinitsky. The point A of the rhombus is connect to fixed point O2 through the link 2. Moreover, in the present invention, the gripping unit is attached to the tip end side of the pivoting unit. 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. A Scott Russell mechanism device, comprising: a sub arm member pivotably coupled to the main arm member by a coupling shaft; and. Furthermore, Patent Document 4 discloses a Scott Russell mechanism applied to an industrial robot. Scott Russell linkage - Wikipedia SQUSE INC., JAPAN, Free format text: wherein the device comprises a pivot driving unit provided at any portion from the coupling position toward the tip end side of the main arm member and for pivoting the joint unit. The dynamic equations of a micro-positioning Scott-Russell (SR) mechanism associated with two flexible hinges and an offset are developed and it is found that offsets of flexure hinges obviously affect the amplifying factor and linearity ratio, and appear to dominate the changes of magnification factors. 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 requirements of the design are identified and the modelling phases of the mechanism are described. Straight-line Mechanisms - GeoGebra 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. Lever Mechanisms," Published in "Mechanisms in Modern Engineering Design, Drive mechanism and manufacturing apparatus, Based on the collapsible explorer mechanical arm of triangle configuration link transmission, unit for transferring a substrate and apparatus and method for treating the substrate with the unit, Device for carrying out a phase-locked linear displacement of two shafts arranged in parallel. The Scott Russell mechanism device of, 17. straight line motion mechanism - SlideShare Includes bibliographical references and index. A mechanical linkage is an assembly of systems connected to manage forces and movement. It is possible to generate an exact straight line using the slider crank mechanism but the range of motion is limited. Development of a highly efficient bridge-type mechanism based on Moreover, with the industrial robot according to Patent Document 1, both of the arm members are rotated (turned) about the screw shaft 21 as a rotation center (turning center), then all of the industrial robot including the screw shaft 21 is turned, and thus a problem arises that a drive torque for the turning increases.