William Lee Holt

US Patent:

47800470, Oct 25, 1988

Filed:

Apr 5, 1985

Appl. No.:

6/720449

Inventors:

William E. Holt - Knoxville TN
Daniel P. Kuban - Oak Ridge TN
H. Lee Martin - Knoxville TN

Assignee:

Martin Marietta Energy Systems, Inc. - Oak Ridge TN

International Classification:

B25J 908
B25J 906

US Classification:

414730

Abstract:

An advanced servo manipulator has modular parts. Modular motor members drive individual input gears to control shoulder roll, shoulder pitch, elbow pitch, wrist yaw, wrist pitch, wrist roll, and tong spacing. The modules include a support member, a shoulder module for controlling shoulder roll, and a sleeve module attached to the shoulder module in fixed relation thereto. The shoulder roll sleeve module has an inner cylindrical member rotatable relative to the outer cylindrical member, and upon which a gear pod assembly is mounted. A plurality of shafts are driven by the gears, which are in turn driven by individual motor modules to transmit rotary power to control elbow pitch as well as to provide four different rotary shafts across the bendable elbow joint to supply rotary motive power to a wrist member and tong member.