Manipulator arm for automated paint spraying machine - has lever system with six cardan joints and two degrees of freedom

摘要

The manipulator arm has a linkage interconnecting two end rings (5, 6) with a tool on the outer end disc being moving by actuators behind the inner end disc. The actuator and is enclosed by a sleeve, the linkage being enclosed by a flexible bellows (4). The inner disc is secured, using clearance holes (7) for the screws. The two discs are connected by three lever (9A, B, C) with bent ends and connected to the respective discs by six cardan joints (e.g. 10Aa, 10Ab). At the outer disc, two (11Aa, 11Ba) of the three cardan joints can rotate about axes (A, B) parallel with the axis (Zs) of the disc. The third carden joint (11Ca) does not rotate about a parallel axis, the outer part being fixed. Similar connections are made with the inner disc.