MANIPULATOR - KOMATSU MFG CO LTD

Title:

MANIPULATOR

Document Type and Number:

WIPO Patent Application WO/1995/002487

Kind Code:

A1

Abstract:

An object of the present invention is to improve the control accuracy of a manipulator. As a main point of this invention, a first arm of a service machine (21) consists of a four-joint link mechanism (7) wherein two joints (7c, 7d) at one-side ends of a first arm (7) of the four-joint link are disposed rotatably on a machine base (2a) while two joints (7a, 7b) at the other-side ends of the first arm (7) are disposed rotatably on a bracket (5). Furthermore, two joints (12a, 12b) at one-side ends of a second arm (12) of the service machine (21) and one end (9a) of an actuator (9) for driving the second arm (12) are disposed rotatably on the bracket (5). A first rotational angle sensor (22) for detecting an angle of rotation of the first arm (7) and a second rotational angle sensor (23) for detecting an angle of rotation of the second arm (12) are provided on the bracket (5).

Inventors:

YOSHINADA HIROSHI (JP)
ASHIKAGA SHIGEAKI (JP)
OKAMURA KENJI (JP)
OTSUBO KAZUHIKO (JP)
KATO TOSHIO (JP)
KITA IKUO (JP)
OURA MINORU (JP)
TAKEUCHI SHINJI (JP)

Application Number:

PCT/JP1994/001147

Publication Date:

January 26, 1995

Filing Date:

July 13, 1994

Export Citation:

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Assignee:

KOMATSU MFG CO LTD (JP)
YOSHINADA HIROSHI (JP)
ASHIKAGA SHIGEAKI (JP)
OKAMURA KENJI (JP)
OTSUBO KAZUHIKO (JP)
KATO TOSHIO (JP)
KITA IKUO (JP)
OURA MINORU (JP)
TAKEUCHI SHINJI (JP)

International Classes:

B25J3/04; B25J9/10; B25J13/08; (IPC1-7): B25J9/06

Foreign References:

JPS63100176U	1988-06-29
JPS5037280U	1975-04-18
JPS56151788U	1981-11-13
JPH0271979A	1990-03-12
JPS5096796A	1975-08-01

Other References: