Manipulator apparatus
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United States of America Patent
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-
Apr 28, 1981
Grant Date -
N/A
app pub date -
Apr 20, 1979
filing date -
Apr 20, 1979
priority date (Note) -
Expired
status (Latency Note)
Importance
Abstract
A manipulator apparatus (10) for performing a plurality of motions is disclosed. The apparatus (10) includes a rotatable support shaft (14) supported on a frame (12) for rotary motion. A plurality of discrete cams (16-22) are supported in a spaced relationship on the support shaft. An individual coupling mechanism (26-32) couples each of the cams to a motion transmitting device. Each coupling mechanism (26-32) includes a cam follower (146, 280, 333). Individual force limiting mechanisms (158, 404) are provided for each of the coupling mechanisms (26-32) for uncoupling a respective coupling mechanism when a force beyond a predetermined level is reached in the respective coupling mechanism.
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