Define Serial Manipulator
SerialLink. Seriallink robot class. A concrete class that represents a seriallink armtype robot. The mechanism is described using DenavitHartenberg parameters. Issuu is a digital publishing platform that makes it simple to publish magazines, catalogs, newspapers, books, and more online. Easily share your publications and get. Movie and TV actors often find themselves regretting taking part in a particular production or a particular scene, often early in their careers, which comes to define. Paranoid personalities exhibit a persistent, pervasive pattern of mistrust of the intentions and motivations of others. And they can misconstrue even the most neutral. Patent US7. 42. 88. Counter balance system and method with one or more mechanical arms. CROSS REFERENCE TO RELATED APPLICATIONSThis application claims priority to U. S. Provisional Application No. S2090123214001532-gr3.jpg' alt='Define Serial Manipulator' title='Define Serial Manipulator' />May 2. U. S. Provisional Application No. May 2. 3, 2. 00. 2, both of which are incorporated herein in their entireties. FIELD OF THE INVENTIONThe present invention is directed to mechanical arm systems including one or more mechanical arms. BACKGROUND OF THE INVENTIONThere are a number of robotics systems including one or multiple arms which are linked together in order to perform tasks such as lifting and moving objects and tools from one location to another in order to perform these tasks. Fig. 9 shows a section of the Indus2 tunnel and fig. Indus2 experimental hall. Various components of the accelerator such as magnets, power. As the arms and objects and tools have weight, other substantial motors must be used in order to move packages from one location to another. With such motors, such systems may not be as user friendly as desirable. In other words, such systems may require substantial energy in order to operate and will not have as delicate a touch as required for various situations. SUMMARY OF THE INVENTIONThe invention is directed to overcome the disadvantages of prior art. The invention includes a number of features which are outlined below. An Adjustable Counterbalance with Counterbalanced Adjustment Rotary JointsA system is presented for counterbalancing the gravitational moment on a link when the link is supported at a point. Intel Dg41wv Motherboard Drivers. A first spring mechanism balances the link about all axes that pass through the support point. The link can be balanced throughout a large range of motion. When load is added to or removed from the link, the first spring mechanism can be adjusted to bring the link back into balance. The force that is required to adjust the first spring mechanism is counterbalanced by a second mechanism with one or more additional springs. Little external energy is needed to adjust the counterbalance for a new load. Little external energy is needed to hold the load or to rotate the link and load to a new position. Unlike counterweight based balance systems, the spring system adds little to the inertia and weight to the link. The system can be adjusted to deliver a moment that does not balance the link. The resulting net moment on the link can be used to exert a moment or force on an external body. A Counterbalance System for Serial Link Arms. Several systems are presented for counterbalancing mechanical arms that have two or more links in series. The joints between the links may have any number of rotational degrees of freedom as long as all of the axes of rotation pass through a common point. For each distal link that has any vertical motion of its center of gravity, a series of one or more pantograph mechanisms are coupled to the link. The motion of the distal link is reproduced by the pantograph mechanisms at a proximal link where a vertical orientation is maintained. A counterbalance mechanism is attached to the proximal end of the chain of pantograph mechanisms. The proximal location of the counterbalance minimizes the rotational inertia of the arm. The counterbalance torque couples only to the balanced link. Spring or counterweight balance mechanisms can be used. A pantograph mechanism can also be used to move the counterbalance to a location where space is available. An Adjustable Counterbalance with Counterbalanced Adjustment Translational JointsA system is presented for counterbalancing the gravitational force on a link when the link is constrained by a prismatic joint to translate along a linear path. An extension spring with a stiffness K is connected to the link. A second spring mechanism with a stiffness of negative K is also connected to the link. As the link translates, the net spring force on the link is constant. The net spring force can be changed by adjusting the pretension on either spring. The force thats required to adjust the pretension is counterbalanced by a third mechanism with one or more additional springs. When load is added to or removed from the link, or when the slope of the prismatic joint is changed, the system can be adjusted to rebalance the link. Little external energy is needed to adjust the counterbalance for a new load. Little external energy is needed to hold the load or to move the link and load to a new position. Unlike counterweight based balance systems, the spring system adds little to the inertia and weight to the link. The system can be adjusted to deliver a force that does not balance the link. The resulting net force on the link can be used to exert a force on an external body. The system can be converted to counterbalance rotational motion by connecting the link to a Scotch Yoke mechanism. Multiple Counterbalance Mechanisms Coupled to One Axis of Rotation. Two or more counterbalance mechanisms can be coupled to one axis of rotation. The net sinusoidal torque phase and magnitude can be changed by adjusting the magnitude or phase of the individual mechanisms. With multiple counterbalance mechanisms, a wider dynamic range of loads can be balanced. With the ability to adjust the phase of the sinusoidal torque, the system can be used to exert a reaction force in an arbitrary direction on another body. Embodiments of the invention further include. An adjustable load energy concerving counterbalance mechanism and method as shown in the attached figures. A multiple series link balance mechanisms and methods as shown in the attached figures. An adjustable counterbalance with a counterbalance adjustment with rotary joints as shown in the figures. A counterbalance system for series link arms as shown in the figures. An adjustable counterbalance and counterbalance adjustment with translational joints as shown in the figures. Multiple counterbalance mechanisms and methods coupled to one axis of rotation shown in the figures. BRIEF DESCRIPTION OF THE DRAWINGSFIG. FIG. 2 is a graphical illustration of the helical spring force deflection curves FIG. FIG. 4 is an illustration of the cable gimbal counterbalance FIG. FIG. 6 is an illustration of the two degree of freedom cable gimbal mechanism FIG. FIG. 8 is an illustration of the two degree of freedom cable gimbal mechanism FIGS. FIG. 1. 0 is an illustration of a free body diagram of the counterbalance adjustment force FIGS. FIG. 1. 2 is an illustration of the load adjustment counterbalance FIG. FIGS. 1. 4a, 1. 4b, 1. FIG. 1. 5 is a graphical illustration of a pulley tangent radius for sliding pivot, constant torque, spiral pulley FIG. FIG. 1. 7 is a graphical illustration of a pulley tangent radius for a sliding pivot, parabolic torque, spiral pulley FIG. FIG. 1. 9 is a free body diagram of a fixed pivot spiral pulley FIGS. FIG. 2. 1 is a graphical illustration of a pulley tangent radius for a fixed pivot, parabolic torque, spiral pulley FIG. FIG. 2. 3 is an illustration of a load adjustment counterbalance with the spiral pulleys on the carriage FIG. FIG. 2. 5 is an illustration of a link angle compensation counterbalance FIG. FIG. 2. 7 is an illustration of a simplified link angle compensation counterbalance FIG. FIGS. 2. 9a and 2. FIG. 3. 0 is an illustration of a dual opposed counterbalance mechanism FIG. FIG. 3. 2 is an illustration of the dual phase shifted counterbalance mechanism FIGS. FIG. 3. 4 is an illustration of the adjustable constant force or constant torque mechanism FIGS. FIGS. 3. 8 and 3. FIG. 4. 0 is an illustration of a translational counterbalance with an adjustment counterbalance and position compensation FIG.