Abstract: In a two-arm type manipulator, it is very rare that two arms develop trouble simultaneously due to malfunction of motors and/or cables. In view of the above fact, motors for actuating manipulator joint mechanisms and cables connected between the motors and the manipulator frame are removably mounted on the shoulder section of the frame of the manipulator. Further, the first arm is so arranged as to be accessible to the second shoulder section or the second arm is so arranged as to be accessible to the first shoulder section. Therefore, it is possible to allow an access of one manipulator arm to the other disabled manipulator elements (motors and/or cables) for removal and replacement of the disabled elements with new elements without aid of another manipulator, in particular, where the manipulator is equipped in atomic facilities which refuse access, thus saving equipment investment.

Abstract: A mechanical manipulator having a joint with a base support and an output support each of which has an orthogonal pivot connection arrangement connecting them in one axis to a common joining arrangement connecting them in an orthogonal axis through which they are movably joined, there being a pair of guides with each rotatably connected to one of the supports and movably joined with each other. A plurality of such joints joined with one another can be provided between two rotary interfaces.

Abstract: In a material transfer device, an articulated arm assembly extends and retracts in a "froglike" motion to transfer an object between a plurality of locations. The articulated arm assembly is rotatable about a pivot point in a radial plane and can be raised or lowered in an axial direction to align the object with the intended destination. A greater degree of axial mobility may be provided, for example by a rotating lift screw. A vacuum chamber may be provided, with the arm assembly moving the object between locations in the chamber.

Abstract: A covering for a mechanical linkage comprises a material which is substantially impermeable to both liquid and particle contaminants and conforms to the outer surface of the mechanical linkage. Because the covering conforms to the surface of the mechanical linkage, the covering does not have loose portions that billow and rub together as the mechanical linkage operates. This lessens the possibility of pieces of the covering and contaminating material detaching and falling from the mechanical linkage. The covering also comprises access openings whereby the mechanical linkage can be serviced without removing the entire covering. In a preferred embodiment, the covering comprises a plurality of sections, each section having fasteners for securing the sections about the mechanical linkage. The separate sections can be individually removed and replaced in a relatively short period of time.

Abstract: In semiconductor vacuum processing, it is desirable to minimize the material handling mechanisms that must be located in the evacuated process chamber. To accomplish this, a mechanism has been designed that locates the necessary power elements such as motors (12-16) outside the chamber (32). Power is transmitted to the mechanism via commercially available rotary vacuum feed-through devices (30) mounted in the chamber walls (28) and the separable, zero backlash couplings (44) located within the chamber. These couplings (44) allow easy removal and replacement of the handling mechanism without the need for physical access and tools.

Abstract: A driving mechanism having a spindle which is provided with a first helical threaded portion having a lefthand direction of rotation and with a second helical threaded portion having a righthand direction of rotation. A pair of spindle guides each engage a respective spindle threaded portion for rotating the spindle and translating the spindle in an axial direction. Each spindle guide has three pairs of runner rollers on a sleeve for centering and supporting the spindle within the sleeves. The three pairs of runner rollers on each sleeve kinematically constrain the six degrees of freedom of the spindle without overconstraint to reduce friction and binding of the spindle in the spindle guides.

Abstract: A harmonic speed changer mechanism includes a circular spline having an outer surface formed with a gear, a flexible spline having an outer surface formed with a gear whose number of teeth is larger than that of the circular spline and arranged outside the circular spline and a wave generator having an inner wall defining an ellipsoidal cross section and arranged outside the flexible spline. The flexible spline is deformed by the ellipse defined by the inner wall of the wave generator so that the gear of the flexible spline meshes with the circular spline gear, partially. A space is provided along an axis of the harmonic speed changer, which is enough to receive various external components necessary for a utilization device to which the harmonic speed changer is applied.

Abstract: An improved robotic manipulator of the type having a plurality of serially-connected drive shafts and a mounting surface affixed to one end thereof. The manipulator includes a first shaft rotatable about a first axis coincident with one ordinate of a mutually perpendicualr triordinate system and a first housing rotatable about that first axis, a second shaft rotatably mounted to said first shaft for rotation about a second axis obliquely oriented with respect to said first axis, and a second housing rotatable on the first housing about a second axis. Rotational movement is imparted to the second shaft about the second axis in accordance with rotational movement of a shaft rotatable about the first axis. A mounting surface has a centerline angularly oriented with respect to the second shaft, and a third shaft upon which the mounting surface is attached is rotatable about a third axis angularly oriented with respect to the second axis.

Abstract: A new robotic system is provided in which the robotic tool is mounted for movement on a gantry above the work piece upon which the work is to be performed. The tool is supported on two carriages each of which is movable with respect to each other and with respect to the gantry so that the tool has the capacity to move through five degrees of freedom and permit a more accurate response to a sensing system which determines the position of the work piece relative to a master and then moves the tool to a working position in substantial operational compliance with the master position.

Abstract: A digital robot control is provided with cascaded position/velocity and torque control loops with microprocessor servo controllers in each. The servo controller includes two microprocessors that operate as a servo engine in providing motion control for six robot axes. One microprocessor is structured to perform data processing and coordination tasks. The other one performs calculation tasks and operates as a slave processor to the first.

Abstract: A transport mechanism for silicon wafers comprises an elongate four arm linkage and a wafer support arm which is secured to the linkage through a gearing system. One of the short arms of the linkage is fixed, and as the linkage is rotated, the gearing system produces a different motion in the support arm. Preferably pinion gears are secured to the ends of the long arms and engage a pinion gear secured to one end of the support arm, so as to produce linear motion of a wafer placed on the support arm.

Abstract: An a manipulator having a pair of main elements pivoted together at a main axis has a drive having a motor mounted on one of the elements and having a motor output, and first, second, and third stepdown transmissions connecting this output with continuous-mesh force transmission to the other element. The first stepdown transmission has an input wheel connected to the motor output, an output wheel, and a toothed belt interconnecting the input and output wheels. The second stepdown transmission has a rotary input element connected to the output wheel, and a rotary output element noncoaxially associated with the input element and connected thereto. The third stepdown transmission has an output gear connected to the other element centered on the main axis, and an input gear rotatable about a gear axis offset from the main axis and having two axially separate halves relatively rotatable about the gear axis and both meshing with the output gear.

Abstract: A robot joint includes an electric drive motor and step-down transmission ilt into the robot joint housing. The output of the transmission drives a gear to which a mounting flange is coupled. A first part of the robot is coupled to the housing and a second robot part is coupled to the mounting flange. The mounting flange is supported axially and radially in the housing by bearings. The bearings preferably include a conical-roller bearing for providing radial and axial support and a needle bearing for providing axial support. Both bearings are maintained under pretension by a spring, thereby providing a robot joint which is free of play.

Abstract: A multi-axial industrial robot having a compact modular design for the drive system, which can be varied in numerous ways. The robot consists of a column or stand (1), with a rocker arm (7) swingably supported thereon and an outrigger (9) swingably supported on the rocker arm. The modular construction system is achieved by locating in the rocker arm (7) the oscillatory drive (26) for the outrigger (9), as well as the oscillatory drive (16) for the arm itself. Preferably, in the rocker arm are housed the complete drives (16, 26) with only the off-drive members (21, 31) protruding outwardly. Off-drive members (21, 31) are centered and connected non-rotatably with the stand (1) and the outrigger (9). As a result, the rocker arm (7) rotates about the fixed off-drive member (21) with respect to the housing. Drives (16, 26) consist each of a motor (11, 13) and a two-step timing-belt drive (17, 20 and 27, 30), whose second step can be a gear transmission.

Abstract: A steering apparatus for steering propulsion devices such as a propeller shaft and rocket exhaust and for aiming devices such a fire hoses and lasers. The steering apparatus provides a rotational component and a tilting component to the orientation of the steered device.

Abstract: In a material transfer device, an articulated arm assembly extends and retracts in a "froglike" motion to transfer an object between a plurality of locations. The articulated arm assembly is rotatable about a pivot point in a radial plane and can be raised or lowered in an axial direction.

Abstract: The present invention includes a robot wrist actuator having a cylindrical housing with first and second housing wall portions coaxially disposed with respect to each other. First and second gimbal assemblies are included within the housing for pitch and yaw movement and are rotatably mounted to the housing. First and second linkages connect the first and second gimbal assemblies such that movement is transmitted from one gimbal assembly to another.

Abstract: An industrial robot assembly comprises a support body including a station portion and a vertically translatable portion. A tapered arm member is mounted to the translatable portion of the support for rotation about a first vertically oriented axis, and an angle lever is mounted to the tapered arm member at a point spaced from the first axis for rotation about a second axis parallel to and spaced from the first axis. A first electric motor is operatively connected to the arm member for rotating that member about the first axis, while a second electric motor is operatively connected to the angle lever for rotating that lever about the second axis. A translatable and rotatable component for carrying grippers or another workpiece manipulating element is mounted to the angle lever at a point spaced from the second axis. A third electric motor and a lifting drive are operatively coupled to the holder component for translating the component and for rotating that component about a third axis, respectively.

Abstract: An industrial robot assembly comprises a support body including a station portion and a vertically translatable portion. A tapered arm member is mounted to the translatable portion of the support for rotation about a first vertically oriented axis, and an angle lever is mounted to the tapered arm member at a point spaced from the first axis for rotation about a second axis parallel to and spaced from the first axis. A first electric motor is operatively connected to the arm member for rotating that member about the first axis, while a second electric motor is operatively connected to the angle lever for rotating that lever about the second axis. A translatable and rotatably component for carrying grippers or another workpiece-manipulating element is mounted to the angle lever at a point spaced from the second axis. A third electric motor and a lifting drive are operatively coupled to the holder component for translating the component and for rotating that component about a third axis, respectively.

Abstract: A robot wrist actuator includes a mechanical joint having a forward and a rearward bearing assembly. The bearing assemblies rotate about respective spaced-apart center points positioned along a primary axis. Each bearing assembly includes an outer and an inner bearing. The outer and the inner bearings pivot about respective axes that are substantially perpendicular to each other and intersect at the respective center point. First and second linkage assemblies for transmitting motion from the rearward bearing assembly to the forward bearing assembly are rotatably secured to a housing. The first linkage assembly is attached to the forward outer bearing at one end and to the rearward outer bearing at another end. The second linkage assembly is attached to the forward inner bearing at one end and to the rearward inner bearing at the other end. A drive assembly provides motive force to the rearward bearing assembly. A tool member adapted for tool attachment is attached to the forward outer bearing.

Abstract: A playback industrial robot comprises at least one driving device provided with an electric motor having a motor shaft. The driving device comprises a reduction gear mechanism for reducing a rotational speed of the motor shaft of the motor, an output shaft for operating the robot, a clutch mechanism which is in a disengaged state when the output shaft rotates in a teaching mode so that the reduction gear mechanism does not act as a load, a mechanism for putting the clutch mechanism in an engaged state depending on supply and cutting off of the supply of compressed fluid when the teaching mode is started, and a case for accommodating the motor, the output shaft and the above mechanisms. The clutch mechanism comprises a movable clutch member applied with a rotary force depending on forward and backward rotations of the motor and guide members arranged in parallel to the output shaft at positions separated from a center of the output shaft toward an outer peripheral direction thereof.

Abstract: An industrial robot having a gimbal-ring type suspension incorporating two axes renders therewith a translatorily movable arm swingable. According to the invention, the translatory movement is achieved in that the gimbal-ring type suspension, which can be swung with the aid of two motors, carries a part in the form of a box-like structure in which a platform provided with a rack can be slidably moved on guides, the platform being driven to translatory motion by a pinion. The platform carries a fourth, a fifth and a sixth motor, of which the fourth motor is able to rotate the arm about its longitudinal axis while the fifth and sixth motor drive their respective drive shafts for swinging the tool holder and rotating the same.

Abstract: A multi-articulated robot is disclosed which comprises a base; a first arm rotatably supported to said base; a second arm rotatably supported at a forward end of the first arm; a work shaft provided at a forward end of the second arm; belts provided below the first arm and the second arm, respectively; a motor provided at the base for driving the work shaft; a hollow shaft fixed to the base, the hollow shaft rotatably supporting the first arm, and the motor being fixed to the hollow shaft; a rotary shaft rotatably supported in opposition to an output shaft of the motor, the rotary shaft projecting into a space defined below the hollow shaft; a declerator interposed between the rotary shaft and the output shaft of the motor and a pulley provided at a projecting end of the rotary shaft, one of the belts being laid around the pulley. The belt laid around the pulley is of the endless type.

Abstract: A direct drive robot which includes a pedestal having two motors which rotate around a common axis to directly drive rotation of first and of second linking arms which are rotating in a plane perpendicular to this pedestal. The first, inner link is preferably driven through a column directly driven by a first motor rotor, the column supporting the inner end of the link. The second, outer link is driven by the second coaxial direct drive motor through a simple, highly-tensioned belt and pulley arrangement. As a result of this direct drive arrangement, movement is provided about two separate parallel axes by two arms arranged perpendicular to the first axis which mounts the two major driving motors of the robot. These two arms are linked together between this major pedestal and the end effector of the robot, centralizing the driving motors at the main stabilizing pedestal, while providing rapid rotational movement around each of the two axes.

Abstract: A multi-articulated robot for providing a plurality of articulations. The robot has a plurality of articulation units, with each unit including a drive and has connecting portions disposed at both ends of the drive for connection with the other articulation units.

Abstract: A robot arm drive apparatus of an industrial robot comprising: an electric motor having a drive shaft; a first robot member having the electric motor mounted thereon; a second robot member rotatably supported on the first robot member; and reduction gear means for reducing rotation of the electric motor and then transmitting to the second robot member. The reduction gear means has a primary reduction gear for reducing the rotation of the electric motor and a secondary, planetary reduction gear for further reducing rotation of output of the primary reduction gear. The primary reduction gear has a reduction ratio such that the maximum number of rotations of the electric motor is reduced less than the characteristic torsion frequency of the drive system.

Abstract: An industrial robot has a base and the mechanical links of a shoulder, arm and hand joined in series with a waist joint, shoulder joint, wrist roll joint and wrist pivot joint. A clutch mechanism is associated with each joint, and continuously spinning shafting extends through all the links and joints. The clutch mechanisms each take power upon electronic command from the shafting to power the joints and move the links relative to each other.

Abstract: A spray gun is designed for mounting on the end of a robot arm. The construction of the gun is provided such that nearly all of the main components with the exception of the spray head itself are located in a main body to which is mounted a pivotal spray head assembly which may pivot approximately 90.degree. to either side of the normal straight-ahead position. The power supply and power generating units are located in the main body. The electrostatic power supply connection to the spray head enters the spray head shaft on the opposite side from the fluid supply entry. The fluid control valve may be located in the spray head shaft.

Abstract: In a material transfer device, an articulated arm assembly extends and retracts in a "froglike" motion to transfer an object between a plurality of locations. The articulated arm assembly is rotatable about a pivot point in a radial plane and can be raised or lowered in an axial direction.

Abstract: An arm driving apparatus for an articulated robot, which is equipped with a worm wheel adapted to move the arm, a worm gear for driving the worm wheel, and a drive motor for driving the worm gear.

Abstract: A work piece positioning device which has a table upon which the work piece is supported is disclosed. The table is rotatably mounted on a sub-assembly which is tiltably mounted on a frame such that the work piece can be positioned in any desired predetermined attitude. Two worm gear systems are utilized for positioning the table, one for the rotating action and one for the tilting action. Each worm gear system has a worm gear, a tiltable worm and a locking mechanism. Once the table and work piece are in the desired predetermined attitude, the locking mechanisms are actuated, locking each worm to its respective worm gear.

Abstract: A manipulator device particularly adapted for deep-sea, submersible use utilizes a human-like arm and a novel shoulder arrangement mounted on a base through a base pivot. The manipulator is hydraulically powered and a hydraulic manifold forms a body of the shoulder arrangement and is situated adjacent an azimuth control actuator, an elbow control actuator and an upper arm control actuator all mounted to the body and rotatable with the body about the base pivot. The arm includes an upper arm swingably connected to the shoulder via the upper arm control actuator and a forearm swingably connected to the upper arm at an elbow joint and controlled by the elbow control actuator. A wrist assembly and appropriate actuators are mounted to a distal end of the forearm and a gripper assembly and associated actuators are connected to a distal end of the wrist assembly.

Abstract: A manipulation arm mechanism for an industrial robot is provided with a pivotable arm in which a first shaft driven by a drive motor is carried for rotation about an axis extending in a longitudinal direction of the arm. The first shaft has secured to its front end a rear casing, on which a front casing is carried for rotation about an oblique axis slanted relative to the first shaft axis. A head mounting shaft capable of attaching thereto a working head such as, for example, a handling gripper is carried in the front casing to be rotable about an axis which extends in axial alignment with the first shaft axis only when the front casing is at a predetermined angular position about the oblique axis. Second and third shafts driven by respective drive motors pass through the first shaft and present into the rear casing their front ends, to which the front casing and the head mounting shaft are drivingly connected through gear trains respectively.

Abstract: Apparatus for positioning a probe carried by an elongated flexible carrier includes a cantilevered telescoping extensible boom. A sprocketed tractor feed mounted at the distal end of the boom engages apertures in the carrier for feeding it and deflecting it from the boom in a direction substantially perpendicular to the longitudinal axis thereof. The tractor feed is mounted for rotational movement about the longitudinal axis of the boom. A withdrawal device engages the carrier adjacent to the supported end of the boom for reeling the carrier up into a cartridge. Extension and retraction of the boom is effected by a rack and pinion mechanism. Rotary resolvers measure the movement of the boom, the movement of the carrier with respect to the boom and the rotary movement of the tractor feed for providing signals to an associated microcomputer, accurately to detect and control the position of the probe. The microcomputer additionally provides on-line visualization of sludge profilometry and topography.

Abstract: A robotic wrist joint comprises a spherical member which is mounted within a ring shaped housing for rotational movement in any direction. A control pin extends from an outer surface of the spherical member. A first semi-circular yoke is pivotally mounted to the ring shaped housing and carries a first track. A second yoke is provided in a position radially inwardly of the first yoke. The second yoke is also semi-circular and is mounted for rotation on the housing about an axis perpendicular to the rotational axis of the first yoke. The second yoke carries a second track. The control pin extends into both the first and the second track so that the spherical member can be brought into any desired location by selectively pivoting the yokes.

Abstract: A robot toy includes a movable arm which is constituted of alternatingly interconnected three first members and three second members. The first member has a first rotating unit for moving the adjacent second member about its longitudinal axis, and the second member has a second rotating unit for rotating the first member about an axis perpendicular to the longitudinal axis. The transmission system for transmitting the output motion of a motor to the arm includes a plurality of transmission cords which are made of metal wires twisted together for the transmission along long transmission lines.

Abstract: A flexible wrist mechanism for industrial robots, manipulators and the like, the wrist mechanism having in series two or more wrist articulates each consisting of at least a first wrist element located on a drive side and a second wrist element located on a driven side swingably relative to the first wrist element, characterized in that the wrist mechanism includes a coupling shaft disposed perpendicular to the axes of the first and second wrist elements and connecting the first and second elements pivotally relative to each other; a reducer interposed between the second wrist element and the coupling shaft to restrict the pivoting angle of the second wrist element relative to the first wrist element; and a rotation transfer mechanism rotationally connecting the coupling shafts of adjacent wrist articulates.

Abstract: The invention concerns a kinematic system of an industrial robot and a sequential control system of its operating cycle.The robot comprises a vertical spindle supporting a main rotating arm and a forearm fixed to a gripping component. A first vertical transfer jack is provided at the end of the forearm. Arms are mounted via bearings on a loose spindle in a link and can swivel, driven by servo-motors in a horizontal plane so as to form a kinematic system functioning in cylindrical coordinates. The servo-motors are programmed to drive the gripping component through a linear trajectory at the beginning of the cycle. A releasable couping system with memory device is provided for the tool-holder. The controller control system is arranged to ensure the transitory readjustment of each arm to a starting position.

Abstract: An industrial robot comprising: a base; a stand rigidly erected on the base; a shoulder securely mounted on the stand; a first arm consisting of upper and lower levers with the base portion pivoted to the shoulder so that the arm can be turned about a first vertical axis; a second arm having its one end pivoted to the other end of the first arm between the upper and lower levers so that the second arm can be turned about a second vertical axis; a vertically movable shaft so supported by the second arm as to allow the linear movement of the shaft along a third vertical axis; a rack parallel to the vertically movable shaft; a guide means for guiding the rack relative to the second arm in only the vertical direction; a coupling means for connecting the vertically movable shaft and the rack at their both ends; a first drive means secured to the shoulder to rotate, through a first power transmission means, the first arm about the first vertical axis; a second drive means secured to the shoulder to rotate, through

Abstract: A control system for a direct teaching/playback type robot, including a low spring constant member connected to a drive source for driving a robot element through a frictional coupling. The control system basically includes a first incremental position detector provided between the robot element and the frictional coupling for detecting the rotational position of the robot element, a second incremental position detector connected to the drive source for detecting the rotational position of the drive source, and a switch for selectively connecting the output terminals of the first and second position detectors to a drive source controller in teaching and playback modes of operation, respectively.

Abstract: A robot assembly includes a support for mounting at least two arm portions and a wrist portion about an upright axis. The wrist has three axes of movement that are mutually perpendicular, and they are controlled by a single motor through an arrangement of electromagnetic clutches and gears so that one motor controls movement about all three axes of movement of the wrist. Additionally, gear drives are used for other movements on the robot arm to provide movement about seven independent axes in the arrangement shown with only two drive motors.

Abstract: A modular, multi-configuration robotics system having basic interchangeable component parts including a base (10), turret (110), rails (20), mounting blocks (30), motors (80), arm links (60) as the primary components and also including bearings (180), pillow blocks (170), gears (176, 178), various shafts, pulley, belts, electronic controller and optical encoders (184) as additional essential component parts. The system is intended as a tutorial device in the field of educational robotics.

Abstract: A two axes manipulating device is provided for the movement of work pieces between two arbitrary desired points in a plane. The device comprises a carriage with guide tracks for two axes disposed at a 90 degree angle relative to each other. The drive is provided under computer control via gear rack and pinion. A position sensing transducer with a pulse generator is provided in each case for the control of the drive. The invention provides a simple and economic apparatus where the gripper can be rapidly and accurately positioned. The computer control comprises a position and a speed control circuit. The carriage comprises means for balancing weights capable of moving in a vertical direction. The balancing is preferably provided by a rotating air piston engine. An electrically disengageable brake can be provided at the vertical axis. The carriage can be a light weight product, for example made from carbon fiber reinforced plastic.

Abstract: A robot joint includes an electric drive motor and step-down transmission ranged in a tubular inner part. The output of the step-down transmission is coupled to a tubular outer part coaxially surrounding the inner part. The outer part is guided on the inner part by bearings. The joint can be disassembled axially after screw connections holding the tubular parts together are loosened.

Abstract: A robot arm preferably has at least shoulder, elbow and wrist joints with a lever arm extending between each of the joints. Individually powered modules are buit into each of the lever arms adjacent each joint to control the mutual attitude between the lever arm end and its associated joint. Thus, each of the lever arms between the shoulder and elbow and between the elbow and the wrist, respectively, has two of the modules. Each individual module is operated to adjust the attitude of the lever arm relative to the adjacent joint. Or stated another way, two of the module means are operated to adjust the attitude between two adjacent lever arms.

Abstract: A remote manipulator arm for positioning and operating tube sheet repair tools within a nuclear generator shell. The arm includes a number of arm segments linked serially, each having a remotely-controlled motor to pivot an elbow in the arm segment by way of gears. A mounting bracket passes through a manhole in the generator shell and provides a stable point of connection for the arm, both inside and outside the shell, as well as connections for power and control signals to the arm. A workhead is provided for mounting on the arm end opposite the bracket, and can carry a plurality of tools to conduct repair operations on tubes. The mounting bracket can be installed from without the shell and does not block the manhole, and the arm is self-installing, requiring no human presence within the generator shell.

Abstract: An article handling device which is particularly well suited for loading articles into a reactor furnace for processing and subsequently unloading the processed articles. The article handling device is supported and vertically movable into alignment with the reactor furnace and includes an article moving device which is reciprocally vertically elevatable and reciprocally horizontally extensible for loading the articles into the reactor furnace and subsequent unloading thereof with minimal disturbing of the reactor process residue which is inherently deposited in the interior of the reactor furnace.

Abstract: A telescoping manipulator arm and pivotable finger assembly are disclosed. The telescoping arm assembly (A) includes a generally T-shaped arm (18) having three outwardly extending fingers (18a, 18b, 18c) guided on the grooved roller guides (12, 14, 16) to compensate for environmental variations. The pivotable finger assembly (D) includes four pivoting fingers (50, 66, 70, 74). Arcuate teeth (52, 58, 60, 62) are formed on the ends of the fingers. A rack (54) having teeth on four sides meshes with each one of the fingers. One surface of the rack (54) includes teeth (56) along its entire surface which mesh with teeth (52) of the finger (50). The teeth (56) at the remote end of the rack (54) engage teeth (80) of a gear wheel (81). The wheel (81) includes a worm (82) which meshes with a worm drive shaft of the drive motor (86) providing a ninety degree self-locking drive (E) for locking the fingers in a desired position.

Abstract: A manipulator for remote handling in a hostile environment 14, has a slave arm 10 comprising an upper arm 30, a forearm 52 and a jaw mechanism 60. The upper arm 30 is pivotally suspended from a shoulder support 20 and is telescopically extendible such that straight line motion of the forearm 52 is readily obtained. In addition the forearm 52 is arranged to pivot relative to the upper arm 30 through the same angle as the upper arm 30 but in the opposite sense such that the forearm 52 maintains a constant orientation when the upper arm 30 pivots. All the motions of the slave arm 10 may be controlled through mechanical linkages from a drive unit 18 situated outside the hostile environment 14, and extending through shielding 13 into the environment 14.

Abstract: The disclosed mechanism includes multiple links having adjustable-length drive units connected in series and operated coordinately. The illustrative form of adjustable-length drive unit has oppositely extending elements oppositely threaded in a body that is secured to a mount, the oppositely extending elements being keyed to each other for conjoint rotation that allows extension and contraction of the drive unit. In one form, successive drive units of successive links produce tilting of articulated links in respective planes perpendicular to each other.