Robot Mechanisms and Mechanical Devices Illustrated - Profe Saul

Chapter 10 Manipulator Geometries 243
Figure 10-1
E-chain
E-Chain
An unusual chain-like device can be used as a manipulator. It is based on
a flexible cable bundle carrier called E-Chain and has unique properties.
The chain can be bent in only one plane, and to only one side. This
allows it to cantilever out flat creating a long arm, but stored rolled up
like a tape measure. It can be used as a one-DOF extension arm to reach
into small confined spaces like pipes and tubes. Figure 10-1 shows a
simplified line drawing of E-chain’s allowable motion.
Slider Crank
The slider-crank (Figure 10-2) is usually used to get rotary motion from
linear motion, as in an internal combustion engine, but it is also an efficient
way to get linear motion from the rotary motion of a motor/gearbox.
A connecting rod length to / crank radius ratio of four to one produces
nearly linear motion of the slider over most of its stroke and is,
therefore, the most useful ratio. Several other methods exist for creating