The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 27, 2011
Filed:
Dec. 05, 2008
Jong Kwang Lee, Daejeon, KR;
Chang Hwan Choi, Daejeon, KR;
Kwang Ho Yoon, Seoul, KR;
Hyo Jik Lee, Daejeon, KR;
Byung Suk Park, Daejeon, KR;
Ji Sup Yoon, Daejeon, KR;
Jong Kwang Lee, Daejeon, KR;
Chang Hwan Choi, Daejeon, KR;
Kwang Ho Yoon, Seoul, KR;
Hyo Jik Lee, Daejeon, KR;
Byung Suk Park, Daejeon, KR;
Ji Sup Yoon, Daejeon, KR;
Korea Atomic Energy Research Institute, Daejeon, KR;
Abstract
The present invention discloses a cable-driven manipulator comprising an operating unit having a drive motor, and a pulley rotated by the drive motor. An upper arm is coupled, through a joint, to one side of the operating unit. A forearm coupled, through a joint, to the other side of the upper arm by the cable. A gripper of an end effector operably coupled to the forearm, a cable compensation device is installed between the upper arm and the forearm so as to maintain constant the length of the cable that transmits the power of the operating unit to the end effector during the pivoting of the forearm. It is thus possible to prevent the variation of tensile force due to the variation of the length of the cable for operating the end effector during the pivoting of the forearm or the unintended malfunction of the end effector.