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. Moreover, in the Scott Russell mechanism device according to the present invention, a pivoting member may be pivotably coupled to the joint unit. Modelling and Simulation of a Straight Line Motion Mechanism for 10.1016/j.sna.2005.06.025 | DeepDyve 19, 2012, WIPO, 4 pages. Moreover, the pivot driving unit is provided at any portion from the coupling position to the tip end side of the main arm member. SCOTT RUSSEL MECHANISM [THEORY OF MACHINES] - YouTube Therefore, the gripping (chucking) flexibly responding to the orientation of a workpiece as a gripping target can be performed by the rotor of the rotation unit of which the amount of the postural displacement is increased, and the Scott Russell mechanism device according to the present invention can suitably be used for the gripping application. The Scott-Russell (SR) amplifying mechanism [1] is designed for a cutting tool to amplify the PA displacement and carry out high precision for the motion control system. The Scott Russell mechanism device of, 15. Grasshopper mechanism. Exact Straight Line Mechanisms - Peaucellier linkage and Scott-Russell Therefore, even if the main arm member and the sub arm member are not arranged to offset from each other, interference between the arm members at the coupling position of both of the arm members can be subsided, and compared to the conventional device without an offset arrangement, the tip end part of the main arm member can be drawn close to the sub arm member. With the Scott Russell mechanism device, a moving range of the tip end side of the main arm member can be enlarged. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. Patent Document 1 discloses a Scott Russell mechanism applied to an industrial robot. Jasen Russell sur LinkedIn : The mystery of what's eating our plastic Scott Russell mechanism developed by John Scott Russell (1808-1882), although already patented in 1803 by watchmaker William Freemantle, gives a theoretically linear motion by using a linkage form with three portions of the links all equal, and a rolling or sliding connection. Flexural Mechanisms for Space Applications | by Hilaal Alam | Jan, 2023 This paper presents the structural design and analysis of a novel compliant gripper based on the Scott-Russell (SR) mechanism. In the present invention, the rotation unit having the rotor is coupled to the joint unit. A rotation unit having a rotor may be coupled to the pivoting member. Conventionally, various kinds of devices using a Scott Russell mechanism exist. Freemantle straight-line linkage from British Patent 2741, November 17, 1803. Note that, a direction of the X-axis illustrated in, About the above-described angle on the coupling position, When the coupling angle between the main arm member, In a case where the main and sub arm members, Therefore, for example, when the second motor M, Note that, in a case where the change of increasing the coupling angle is desired to be performed quickly, the rotations of the first and second motors M, Note that, the rotations of the first and second motors M, Note that, the Scott Russell mechanism device, Moreover, in a case where it is desired to point the gripping unit, Further, regarding the mechanism for pivoting the joint unit, Moreover, with the configuration as described above, it is suitable for the fourth motor M, Moreover, other than the application of gripping, for example, in a case of applying to the application of placing and moving the workpieces, a placing unit or the like is attached instead of the gripping unit, That is, the Scott Russell mechanism device, As for the Scott Russell mechanism device, Note that, also as for the Scott Russell mechanism device, Therefore, also in the third embodiment, similarly to the first embodiment, if the control on the fourth motor by a motor controller (corresponding to a switch means) provided accompanying the Scott Russell mechanism device, According to the configuration above, also as for the Scott Russell mechanism device. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: ICHIKAWA, YASUNORI, SASAKI, HIROMICHI, SHIMIZU, MIKIO, HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS, MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES, Programme-controlled manipulators characterised by movement of the arms, e.g. The First World War. - A-Level English - Marked by Teachers.com 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 . 10. The proposed stage showed the first natural frequency of 57 Hz and the maximum stroke of 122.84 m, 108.46 m, 0.685 mrad in the x-, y-, and -direction, respectively. Scott-Russell Mechanism. Further, in the Scott Russell mechanism device according to the present invention, the main arm member and the sub arm member may be pivotable about the virtual straight line as a pivoting axis thereof. Highlight matches. Here is a sampling of five herbs that have demonstrated potential immune support benefits: 1. Furthermore, in the Scott Russell mechanism device according to the present invention, the angle changer may also have a second ball screw arranged in parallel to the first ball screw, and a second linearly-moving unit for being linearly moved by a rotation of the second ball screw. Universal Joint/Hooke's Joint. The present invention can be switched, as for the joint unit attached to the tip end of the main arm, to the total of two ways of pivoting including the pivot cooperating with the angle change of the arm members at the coupling position and the pivot independent from the angle change, and thus the Scott Russell mechanism device can suitably be used for various applications. In the present invention, the pivoting member is pivotably coupled to the joint unit and the rotation unit having the rotor is coupled to the pivoting member. The linkage is named after John Scott Russell (1808-1882), although watchmaker William Freemantle had already patented it in 1803. wherein an axis of the pivot of the pivoting member is in parallel to the pivoting axis of the joint unit, and. wherein an angle of the side coupled to the sub arm member on the coupling position is made narrower than 180. 1. The commonly used displacement amplification compliant mechanism has plenty of categories of bridge-type mechanisms, lever mechanisms, Scott-Russell mechanisms, and many more (Xu and Li . PDF Review Article on Displacement and Force Compliant Mechanism Amplifier In the present invention, the gripping unit is attached to the rotor of the rotation unit. This paper will discuss the mechanical design theoretical modeling and analyses, finite element analysis and experimental verification. 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. Schematic of Scott Russell mechanism. | Download Scientific Diagram a second ball screw arranged in parallel to the first ball screw; and, a second linearly-moving unit for being linearly moved by a rotation of the second ball screw, and. This mechanism can generate an exact straight line if the link dimensions are correct. An SR mechanism in combination with a parallelogram mechanism enables the achievement of a pure translation of the gripper tips, which is attractive for practical micromanipulation and microassembly applications. With the suffering came a wave of change that saw millions after their opinions towards not only war, but life itself. wherein either one of the base end part of the sub arm member or the base end part of the main arm member is pivotably coupled to the second linearly-moving unit about the virtual straight line as the pivoting axis thereof. Therefore, the first ball screw will be excluded from the turning targets, compared to the turnings of both of the arm members of the industrial robot relating to the reference document 1 described above, a drive torque caused by the turn is reduced, and both of the arm members can be turned smoothly. 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. A joint unit pivotably coupled to a tip end part of a main arm member of a Scott Russell mechanism is pivoted in two ways. Stuart J. Russell and Peter Norvig Upper Saddle River, New Jersey 07458. Scott Russel | eMachineShop These displacement amplifier mechanisms often have a proper amplification ratio capable of large working strokes; however, their low resonant frequency limits their application in high-performance jet dispensers. Moreover, the present invention aims to provide a Scott Russell mechanism device that allows a main arm member and a sub arm member to pivot at a base end part of both of the arm members to reduce a drive torque for turning both of the arm members, and to increase in degree of freedom in postures of various kinds of units attached to a tip end of the main arm member compared to the conventional degree. 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. 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. The present invention is made in view of the above situations, and aims to provide a Scott Russell mechanism device that is capable of drawing close to a tip end part of a main arm member proximally to a sub arm member by forming the main arm member into a boomerang-like shape without arranging both of the arm members offset from each other. The main arm member is formed into a boomerang-like shape such that the coupling position is curved to detour to an opposite side from the side where the sub arm member is positioned. A standard Scott Russell straight- mechanism was invented by a French army officer, line mechanism provides an exact straight-line mo- Charles Nicolas Peaucellier, in 1864. An interesting mechanism to consider in designing leverage devices with flextensional joints is the Scott -Russel, also known as half beam mechanism, which is described geometrically in Fig.. Moreover, in the present invention, the gripping unit is attached to the tip end side of the pivoting unit. Application: Creates an approximate straight line . 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. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO). 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 application of the Scott Russell mechanism device according to the present invention expands by attaching various kinds of units corresponding to various applications to its rotor. Therefore, the gripping unit can be pivoted proximally to the workpiece which is the gripping target, and the Scott Russell mechanism device including a griping function suitable for such a gripping application can be provided. Development and dynamic modelling of a flexure-based Scott-Russell The Scott-Russell mechanismThe structural application of flexure hinges in the SR amplifying mechanism is especially important to practically play an important role in the positioning stage and precision cutting. 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. [1] . All Rights Reserved. for multi-joint type robot, Gravitation balancing device, articulated robot, and wrist device for robot, Manipulator with flat or three-dimensional trajectory suitable for high operating rate, Mechanical arm with a 2 freedom-degree wrist attitude regulation mechanism, Exhaust gas purification catalyst and method for producing the same, Motor-driven device for moving workpieces, Pick and place device having two parallel axes, Scara type robot with counterbalanced arms, Manipulator, manufacturing machine and production line using the same. Copyright 2022 Bright Hub PM. Moreover, in the Scott Russell mechanism device according to the present invention, the sub arm member may be linearly formed. 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 attach units to the tip end side of the main arm member and change postures of the units variously.