The optimally-designed stage was fabricated by wire electrical discharge machining and tested to investigate its performance. This paper describes the design of an exact straight line motion mechanism, commonly known as a Scott-Russell mechanism (SRM), for industrial application. The Scott Russell mechanism device of, 13. The displacement amplification mechanism has the primary role in sensitivity and performance analysis of micro-devices (Iqbal and Malik 2019). (Stuart Jonathan) Instructor's solution manual for artificial intelligence : a modern approach (second edition) / Stuart Russell, Peter Norvig. One of the ends is then connected to something that can generate linear motion, such as a rolling or sliding connection, or another straight line mechanism. [1] [2] 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. 11. Fundamentals of Modern Manufacturing - Mikell P. Groover 1996-01-15 This book takes a modern, all-inclusive look at manufacturing . The Scott Russell mechanism device of, 12. The requirements of the design are identified and the modelling phases of the mechanism are described. [3], The linkage does not share the disadvantages of the asymmetric Panhard rod, and although more compact than Watt's linkage, it has all the forces concentrated in one link.[4]. US 9,505,138 B2 10 45 . 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. The main arm member and the sub arm member may be pivotable about the virtual straight line as a pivoting axis thereof. Any in SPE Disciplines (4) Conference. Machines as simple as livers, machines such as James Watts steam engine and the industrial robots such as PUMA all are composed of mechanisms whether simple, complex or combination of many simple and complex mechanisms. Developed by James Watt for reciprocating piston of steam engine. 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. Priority claimed from JPPCT/JP2011/058124. In the present invention, the gripping unit is attached to the rotor of the rotation unit. The design criteria of the Scott-Russell mechanism are to achieve large amplification factor and minimum motion deviation. However, since both of the arm members are arranged offset from each other in the overlapped direction, a problem arises that the thickness dimension (dimension in the direction overlapping both of the arm members) of the device increases, and since the centers of both of the arm members in the thickness direction do not match with each other, a problem also arises that the balance in weight degrades in both of the entire arm members. Further, Patent Document 5 discloses a Scott Russell mechanism in a modified example where the coupling between the main arm member and the sub arm member is in a crank shape, the Scott Russell mechanism applied to a transport device. 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. It is evident from the figure that this mechanism is made up of isosceles triangles, AB, AC and AO2 are of equal lengths. 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. Therefore, by the rotor of the rotation unit where the amount of the postural displacement is increased compared to the conventional device, the Scott Russell mechanism device according to the present invention can be applied to the application of performing the gripping while flexibly responding to the orientation of a workpiece as a gripping target. With the Scott Russell mechanism device, a moving range of the tip end side of the main arm member can be enlarged. Therefore, compared to the case of coupling the units in an order different from above, the pivoting unit positioned at the farthest tip end can perform the postural displacement in a different range. Il permet de dtailler la liste des options de recherche, qui modifieront les termes saisis pour correspondre la slection actuelle. Universal Joint/Hooke's Joint. CORROSION 2003 (1) CORROSION 2004 (1) International Petroleum Technology Conference (1) Offshore Technology Conference Asia (1) Publisher. Further, in the Scott Russell mechanism device according to the present invention, a gripping unit may be attached to the rotor of the rotation unit. Therefore, the application of the Scott Russell mechanism device according to the present invention expands. The linkage has a rhombic loop formed of the equal lenght members, 5, 6, 7 and 8. The linkage is composed of two links. 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. A Scott Russell mechanism is a mechanism where a linear main arm member is pivotably coupled to a sub arm member, a distance from a base end part of the main arm member to a coupling position thereof, a distance from the coupling position of the main arm member to a tip end part thereof, and a distance from a coupling position of the sub arm member to a base end part thereof are all equal to each other, and in a case where a coupling angle between both of the arm members is changed, the tip end part of the main arm member linearly moves along a straight line connecting the tip end part of the main arm member and the based end part of the sub arm member. The structural application of flexure hinges in the SR mechanism is especially important to practically play a powerful role in the positioning stage and precision cutting. 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. 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. 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. 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). It is possible to generate an exact straight line using the slider crank mechanism but the range of motion is limited. Moreover, in the present invention, the gripping unit is attached to the tip end side of the pivoting unit. ULTRASOUND SYSTEM FRONT-END CIRCUIT FOR A 128-ELEMENT ARRAY PROBE Publication number: 20220381890 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. a pivoting unit having a pivoting part that is pivotable centering on an axis in parallel to the pivoting axis of the joint unit is coupled to the rotor of the rotation unit. This paper describes the development of a gecko-inspired robotic gripper for grasping flat objects using Scott-Russell mechanisms. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). 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. A Scott Russell mechanism is a mechanism where a linear main arm member is pivotably coupled to a sub arm member, a distance from a base end part of the main arm member to a coupling position thereof, a distance from the coupling position of the main arm member to a tip end part thereof, and a distance from a coupling position of the sub arm member to a base end part thereof are all equal to each other, and in a case where a coupling angle between both of the arm members is changed, the tip end part of the main arm member linearly moves along a straight line connecting the tip end part of the main arm member and the based end part of the sub arm member. 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. 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. Ce bouton affiche le type de recherche actuellement slectionn. 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. However, a bridge-type mechanism with an external load always works in an energy-inefcient situation due to the storage of strain energy in the exural hinges, which can be validated by the analytical model established in this paper. 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. By the constraints of the geometry point A moves in a circular path and as the point A moves in a circle point P traverses an exact straight line path normal to the line joining O2 and O4.if(typeof ez_ad_units!='undefined'){ez_ad_units.push([[300,250],'brighthubengineering_com-large-mobile-banner-1','ezslot_14',174,'0','0'])};__ez_fad_position('div-gpt-ad-brighthubengineering_com-large-mobile-banner-1-0'); From the construction of the Peaucellier linkage it is clear that this is a much more complex mechanism than the mechanisms generating approximate straight lines, which were simple four bar linkages. PAYMENT OF MAINTENANCE FEE, 4TH YR, SMALL ENTITY (ORIGINAL EVENT CODE: M2551); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY. 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. Copyright 2022 Bright Hub PM. Patent Document 1 discloses a Scott Russell mechanism applied to a industrial robot. The Scott Russell mechanism device of, 18. With the industrial robot according to Patent Document 1, both of the arm members are rotated (turned) about the screw shaft. Highlight matches. On this Wikipedia the language links are at the top of the page across from the article title. Therefore, the rotation unit attached to the joint unit via the pivoting member can displace its rotor independently of the amount of the displacement of the tip end part of the main arm member, and the postural displacement of the rotor positioned at the farthest tip end increases much more. The length of the link 2 is equal to the distance between points O2 and O4. 10, 2015, Germany, 6 pages. It is possible to generate an exact straight line using the slider crank mechanism but the range of motion is limited. The bridge-type mechanism is one of the most widely used displacement ampliers in micro- scale applications. Based on the geometry of the linkage the output motion is a simple sine function of the drive link or a simple harmonic motion. Scott-Russell mechanism. ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SASAKI, HIROMICHI;SHIMIZU, MIKIO;ICHIKAWA, YASUNORI;REEL/FRAME:031303/0431, Free format text: 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 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. Figure 3. A Scott Russell mechanism device, comprising: a sub arm member pivotably coupled to the main arm member by a coupling shaft; and. 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. The Scott Russell mechanism device of. The mechanism to the right can be refered to as the Scott Russell Mechanism or a more descriptive name is the Scott Russell Exact Straight Line Mechanism. Emplois Personnes LinkedIn Learning . 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. It is evident from the figure that this mechanism is made up of isosceles triangles, AB, AC and AO2 are of equal lengths. 1. Therefore, the gripping unit can be pivoted proximally to the workpiece which is the gripping target, and the Scott Russell mechanism device including a gripping function suitable for such a gripping application can be provided. Robert's Mechanism. Therefore, the posture of the joint unit can be controlled freely. 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. It is possible to generate an exact straight line using the slider crank mechanism but the range of motion is limited. Two equal length length links are connected to the opposite corners of the rhombus at one end and to a common fixed point at the other ends. Scott Russell mechanism applied to a drive structure of a feed arm. wherein the degree of the curve of the main arm member is 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. Freemantle straight-line linkage from British Patent 2741, November 17, 1803. 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. Moreover, by providing a pivot driving unit to the main arm member, as well as providing a fourth motor and a drive transmission mechanism unit to the sub arm member, the Scott Russell mechanism device can switch between pivoting the joint unit associatively a change of a coupling angle of the arm members and and pivoting the joint unit by the drive of the fourth motor. 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. . wherein an angle of the side coupled to the sub arm member on the coupling position is made narrower than 180. 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. The connections between links are modeled as providing ideal movement, pure rotation or sliding for example, and are called joints. 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. Further, when both of the base end parts of both of the arm members are moved in the same direction by the same amount, both of the arm members can be moved entirely while keeping their postures. 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. Grasshopper mechanism. Since the postures of these units on the tip end side depend on the direction (posture) of the tip end of the main arm member, a problem arises that a range in which the postures of the units attached to the tip end of the main arm member can be changed is limited. Here is a sampling of five herbs that have demonstrated potential immune support benefits: 1. Since the postures of these units on the tip end side depend on the direction (posture) of the tip end of the main arm member, a problem arises that a range in which the postures of the units attached to the tip end of the main arm member can be changed is limited. a first ball screw arranged in parallel to the virtual straight line; and, a first linearly-moving unit for being linearly moved by a rotation of the first ball screw, and, wherein either one of the base end part of the main arm member or the base end part of the sub arm member is pivotably coupled to the first linearly-moving unit about the virtual straight line as the pivoting axis thereof, and. As point A moves vertically, point B moves horizontally. 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. For this description to be true the acting length of the short link, the blue one, needs to be half as long as the active length of the green one and the pin that connects them must be . Theory of Machines and Mechanisms - John J. Uicker 2003 This work is a supplement to accompany the authors' main text. Japanese Patent Office, International Search Report of PCT/JP2012/058634, Jun. This mechanism can generate an exact straight line if the link dimensions are correct. Machine Kinematics Questions and Answers - Application of Kutzbach Criterion to Plane Mechanisms ; advertisement. Table drive device and work system equipped with table drive device, Driving equipment and the Workpiece clamping unit equipped with the driving equipment. Jasen Russell tendre la recherche. Japanese Patent Office, International Search Report of PCT/JP2011/058124, Jun. a sub arm member pivotably coupled to the main arm member; and. A Scott Russell linkage is a linkage which translates linear motion through a right angle. Application: used to connect intersecting shafts . 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 linkage is named after John Scott Russell (18081882), although watchmaker William Freemantle had already patented it in 1803. This paper presents the structural design and analysis of a novel compliant gripper based on the Scott-Russell (SR) mechanism. Classified in two types: 1- Exact straight line mechanisms:- Paucellier mechanism, Hart mechanism, Scott-Russel mechanism, Kempe mechanism,etc. In the present invention, the rotation unit is coupled to the joint unit. 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. an angle changer for changing a coupling angle between the main arm member and the sub arm member. [0016]. All Rights Reserved. Furthermore, in the Scott Russell mechanism device according to the present invention, a base end part of the main arm member and a base end part of the sub arm member that is on the opposite side from the coupling side of the sub arm member are positioned on the same virtual straight line. Moreover, 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. SQUSE INC., JAPAN, Free format text: 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. The movement of a body, or link, is studied using geometry so the link is considered to be rigid. With the suffering came a wave of change that saw millions after their opinions towards not only war, but life itself. The Scott Russell mechanism device of, 20. Furthermore, Patent Document 4 discloses a Scott . 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. cylindrical coordinate type or polar coordinate type, GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS, TECHNICAL SUBJECTS COVERED BY FORMER USPC, TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS, TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION, Multiple controlling elements for single controlled element, The United States Of America As Represented By The Secretary Of The Navy, Gilman Engineering & Manufacturing Co., Llc, The Regents Of The University Of Michigan, ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SASAKI, HIROMICHI;SHIMIZU, MIKIO;ICHIKAWA, YASUNORI;REEL/FRAME:031303/0520, PAYMENT OF MAINTENANCE FEE, 4TH YR, SMALL ENTITY (ORIGINAL EVENT CODE: M2551); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY, Motor-driven articulated arm with cable capstan including a brake, Substrate transfer unit, substrate treating apparatus including the same, and substrate treating method, Drive mechanism and manufacturing apparatus, Based on the collapsible explorer mechanical arm of triangle configuration link transmission, Device for carrying out a phase-locked linear displacement of two shafts arranged in parallel, Picking mechanism with metamorphic function, Bending apparatus for material testing and micro-ct imaging, mechanical arm with synchronous belt transmission device, Suitable for the lifting mechanism of disk-like accessory, STRIP CUTTING SYSTEM BY HELICOIDAL KNIVES AND CORRESPONDING CUTTING PROCESS, Motorized manipulator of the cable transmission type having an increased field of action, Scara type robot with counterbalanced arms, Pick and place device having two parallel axes, Improvements in or relating to overhead electric traction systems, Joint structure of arm, etc. It converts linear motion, to linear motion in a line roughly perpendicular to the input. Scott Russell's Mechanism - Special Mechanism - Kinematics of Machinery Ekeeda 914K subscribers Subscribe 44 2.1K views 7 months ago Subject - Kinematics of Machinery Video Name - Scott. Debates (Hansard) No. Therefore, the application of the Scott Russell mechanism device according to the present invention expands. Moreover, Patent Document 3 discloses a Scott Russell mechanism applied to a drive structure of a feed arm. 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. Bridge-type amplification mechanism Bridge-type mechanism, rhombic mechanism, double-rocker mechanism, scott-russell mechanism, honey comb mechanism, and lever mechanism are a few amplification mechanisms which have been used for micro/nano manipulation purposes [ 33, 34, 35, 36, 37 ]. 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. The dynamic equations of a micro-positioning Scott-Russell (SR) mechanism associated with . 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. It consists of both sliding and turning pairs Download Solution PDF Share on Whatsapp Scott-Russell mechanism: The schematic of a flexure hinge-based Scott-Russell mechanism is depicted in Figure 3. The angle changer may have a first ball screw arranged in parallel to the virtual straight line, and a first linearly-moving unit for being linearly moved by a rotation of the first ball screw. In this mechanism, the slider is replaced by a link traveling . 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. It is shown that O is a fixed pin joint, A is the input point to be driven by a PSA, and B is the output point. The Scott Russell mechanism device of, 15. 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. 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. IPTC (1) NACE (2) OTC (1) Date. These mechanisms are simple linkage mechanisms with revolute joints, but they can only generate approximate straight lines and that too only for short lengths. Further, in the Scott Russell mechanism device according to the present invention, a gripping unit may be attached to the rotor of the rotation unit. 4. 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. A pivoting unit having a pivoting part that is pivotable centering on an axis in parallel to the pivoting axis of the joint unit may be coupled to the rotor of the rotation unit.