MANIPULATOR Russian patent published in 1998 - IPC

FIELD: robotics. SUBSTANCE: manipulator is driven by electric motors and can operate in spherical coordinate system at high positioning flexibility; it can also adapt itself to channel curvature when entering curved process channels embracing it over perimeter to perform subsequent positioning of grab in process zone downstream the channel. Manipulator is built up of sections in the form of set of disks joined together by ball mounts with interdisk spaces filled with stressed springs when carrier disks are available; one of these disks is built integral with grab and has attachment points for control cables running from taper drums mounted in relatively perpendicular on other carrier disk and driven by motor rigidly coupled with variable-speed potentiometers that function as feedback transducers; same disk carries drum with motor and electromagnetic brake. This assembly is designed closing the grab due to cable wound onto drum and passed through centers of ball mounts. Similar taper drums are provided on remaining carrier disk to provide deflection in planes; it also has gear transmitting rotary motion of manipulator relative to longitudinal axis from motor mounted outside the manipulator. Compensating supports are provided in manipulator to eliminate in-service stretching of cables as well as devices compensating for changes in cable length when entering curved channel. Manipulator is positioned in desired plane by changing length of cable portions pulled in grooves of different diameters on taper drums and causing deflection of disks securing ends of these cables; this, in its turn, causes re-distribution of forces of stressed springs among planes of disks curving the manipulator body. EFFECT: improved design. 12 cl, 3 dwg