U.S. patent number 3,866,966 [Application Number 05/448,342] was granted by the patent office on 1975-02-18 for multiple prehension manipulator.
Invention is credited to Frank R. Skinner, II.
United States Patent |
3,866,966 |
Skinner, II |
February 18, 1975 |
MULTIPLE PREHENSION MANIPULATOR
Abstract
A multiple prehension manipulator mechanism including a base; a
plurality of finger assemblies mounted on the base; finger drive
means for selectively opening and closing the fingers so that each
finger moves in a single curling plane; and positioning drive means
for selectively positioning the finger assemblies so that different
prehensile modes can be achieved. The disclosure also contemplates
the method of operation of the mechanism.
Inventors: |
Skinner, II; Frank R. (St.
Joseph, MI) |
Family
ID: |
27000721 |
Appl.
No.: |
05/448,342 |
Filed: |
March 5, 1974 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
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360022 |
May 14, 1973 |
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Current U.S.
Class: |
294/106; 414/1;
901/36; 294/111; 623/64; 901/39 |
Current CPC
Class: |
B25J
15/0009 (20130101); A61F 2/588 (20130101); A61F
2002/701 (20130101) |
Current International
Class: |
B25J
15/00 (20060101); A61F 2/50 (20060101); A61F
2/58 (20060101); A61f 001/06 () |
Field of
Search: |
;214/1CM ;3/12.7
;294/97,115,106 |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Spar; Robert J.
Assistant Examiner: Abraham; George F.
Attorney, Agent or Firm: Powell; B. J.
Claims
1. A multiple prehension manipulator mechanism comprising:
a plurality of finger means;
finger drive means for selectively opening and closing said finger
means to grasp; and,
positioning drive means for selectively positioning said finger
means so that at least two of said finger means are aligned along a
common path in direct opposition to each other at a first position,
and are parallel to
2. The mechanism of claim 1 wherein said positioning drive means
further positions said at least two finger means so that said
finger means are directed toward a common point displaced laterally
from the common path in
3. The mechanism of claim 2 wherein said positioning drive means
includes a
4. The mechanism of claim 3 wherein each of said finger means
includes a finger bendable in a single curling plane about a
revolute axis substantially normal to said curling plane and
rotatable about a
5. The mechanism of claim 4 wherein each of said fingers has a
normal substantially straight open position in which said finger
lies along a prescribed substantially straight path in said curling
plane substantially
6. The mechanism of claim 5 wherein there are three finger means
and further including a palmar member rotatably mounting each of
said finger means for rotation about said positioning axes, said
palmar member defining a planar working surface and said finger
means located so that said fingers project over said surface from
spaced points and said
7. The mechanism of claim 6 wherein said finger means are
positioned so that said positioning axis of each of said finger
means lies in said curling plane of said finger in substantial
alignment with said prescribed
8. The mechanism of claim 7 wherein said positioning means further
includes a four-bar linkage mechanism operatively connecting said
motor with said other of said finger means so that other finger
means is substantially parallel to and in opposition to said at
least two finger means in said second position, and is directed
toward said common point in said third
9. The mechanism of claim 8 wherein said four-bar linkage mechanism
includes a drive gear having a first prescribed pitch diameter
d.sub.1 operatively connected to said motor for selected rotation
by said motor; a first driven gear having a second prescribed pitch
diameter d.sub.2 operatively connected to one of said at least two
finger means for rotating said finger means about its positioning
axis and drivingly meshing with said drive gear; a four-bar gear
rotatably mounted in said base having a third pitch diameter
d.sub.5 ; a second driven gear having a fourth pitch diameter
d.sub.6 operatively connected to said other finger means for
rotating said other finger means about its positioning axis and
drivingly meshing with said four-bar gear; and a four-bar link
pinned to said drive gear a prescribed distance r.sub.1 from its
center of rotation and pinned to said four-bar gear a prescribed
distance r.sub.2 from its center of rotation and having a
prescribed length L according to the following relationships:
d.sub.1 /d.sub.2 = 1.25
d.sub.5 = 3 d.sub.6
r.sub.2 = d.sub.5 /2
r.sub.1 > d.sub.1 /2
r.sub.1 = r.sub.2 cos 60.degree.
L .gtoreq. [ (.alpha..sub.1 /2 + .alpha..sub.5 /2 + t).sup.2 -
(r.sub.2 cos 60.degree.).sup.2 ] .sup.1/2
where t = outside diameter of said driven gear - d.sub.1 .
Description
BACKGROUND OF THE INVENTION
Many attempts known been made to produce a manipulator having
substantially the same capabilities as the human hand. Because the
human hand has many motor and control systems, such prior art
manipulators have been very complicated and therefore prohibitively
expensive to manufacture and maintain. Because of the complexity of
the human hand, many of these prior art manipulators attempted to
combine several motor functions of the human hand with the
attendant loss of capability.
SUMMARY OF THE INVENTION
The invention disclosed herein overcomes these and other problems
associated with the prior art by providing a manipulator which has
virtually all of the basic capabilities associated with the human
hand. The construction of the invention is relatively simple
thereby reducing the manufacturing cost and maintenance cost.
The invention comprises generally a plurality of finger assemblies,
each including a finger pivoted about at least one finger axis
through a single plane normal to the finger axis, a base mounting
the finger assemblies so that the plane of each finger can be
rotated about a positioning axis through the plane and normal to
the finger axes, finger drive means for pivoting the fingers about
the respective finger axes, and positioning means for moving the
finger assemblies so that at least two of the planes will be
rotated about their respective positioning axes. The finger drive
means may individually or collectively pivot the fingers about
their finger axes. Also, the planes of movement of the fingers may
be rotated so that the positioning axis substantially intersects
the finger axes.
These and other features and advantages will become more apparent
upon consideration of the following specification and accompanying
drawings wherein like characters of reference designate
corresponding parts throughout the various views and in which:
BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of
one embodiment of the invention;
FIG. 2 is a side view of the manipulator of FIG. 1 shown partly in
cross-section with the fingers in tip prehensile mode and the
finger drive mechanism omitted for clarity;
FIG. 3 is a cross-sectional view taken along line 3--3 in FIG. 2
and showing the finger assemblies in three-jaw prehensile mode;
FIG. 4 is an operating end view of the manipulator of FIG. 1;
and,
FIG. 5 is a cross-sectional view of the finger mechanism taken
along line 5--5 in FIG. 4.
These figures and the following detailed description disclose
specific embodiments of the invention, however, it is to be
understood that the inventive concept is not limited thereto since
it may be embodied in other forms.
DETAILED DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS
Referring to FIGS. 1-5, it will be seen that the first embodiment
of the manipulator is designated by the numeral 10. Generally, the
manipulator 10 includes a base 11, a plurality of finger assemblies
12 mounted on base 11, a finger driving mechanism 14 carried by
each finger assembly 12, and a positioning mechanism 15 carried in
base 11 for positioning the finger assemblies 12.
Basically, the manipulator is an assembly of drives and mechanisms
intended for prehension. These mechanisms, called fingers, can have
one or more bending sections. Externally, a finger with its bending
sections resembles an open linkage. Each finger link is a component
of a closed linkage which can pivot or rotate the link. The fingers
do not translate and are attached to a base. Three fingers are
considered necessary and sufficient in the construction of the
manipulator. Fingers can approach, contact, or pass one another
during prehensile operation. The manipulator contains all of the
drives either in the base or finger assemblies. A multiple
degree-of-freedom wrist mechanism (not shown) may be used to
connect to and move the manipulator so that it can approach an
object from any direction
The objective of the manipulator is to produce a highly versatile
hand with a minimum number of moving parts, a dependable drive
system, and an optimum number of degrees of freedom. The number of
degrees of freedom is considered optimum when it is estimated that
the manipulator can grasp all of the basic geometrical shapes from
any aspect with the minimum number of external control inputs.
These basic shapes are rectangular and triangular prisms, spheres,
and cylinders.
The human hand is generally accepted as being capable of the six
basic prehensile patterns: lateral, hook, tip, palmar, spherical,
and cylindrical. These six basic prehensile patterns, because of
similarities, can be reduced to the three basic mechanical
equivalents of wrap, three-jaw and tip prehension that very nearly
duplicate the basic human hand prehensile patterns. Additionally,
in order to grip large objects that the fingers can not surround,
spread prehension is created which consists of inserting the
fingers into an opening in the object and then bending them outward
to engage the object within the opening. The manipulator 10 is able
to generate all of the above four equivalent prehensile
patterns.
Referring now to FIGS. 2-4, it will be seen that the base 11 is
hollow with an equilateral triangular shaped top palmar plate 21
and bottom base plate 22. A tubular side wall 24 also having a
general equilateral triangular cross-sectional shape connects the
plates 21 and 22 so that the plates are substantially parallel to
each other and in vertical alignment. Generally speaking, the
palmar plate 21 corresponds to the palm of the human hand. A cavity
25 is defined within the plates 21 and 22 and side wall 24.
requires velocity
A finger assembly 12 is rotatably journalled between plates 21 and
22 at each of their three corners and extends outwardly from the
palm plate 21. The finger assemblies 12 are individually designated
12.sub.a -12.sub.c to distinguish each. The finger driving
mechanism 14 of each assembly 12 is positioned in cavity 25 and
rotatable with its associated assembly 12 as will become more
apparent. The positioning mechanism 15 is also mounted within
cavity 25.
FINGER ASSEMBLY
Finger assemblies 12.sub.a -12.sub.c are all identical in
construction and therefore only one assembly which is designated
generally 12 as seen in FIG. 5 will be described in detail with
like reference numbers applied to each. The assembly 12 includes a
frame 31 which is rotatably journalled about a positioning axis PA
between palmar plate 21 and base plate 22 as seen in FIG. 2. A
mounting bracket 32 on frame 31 projects through an appropriate
opening 26 in palmar plate 21. A finger 34 is connected to bracket
32 through a single revolute joint 35 so the entire finger 34 is
pivotal through a single curling plane CP as best seen in FIG. 1
about a curling axis CA passing through the joint 35. It will be
noted that the positioning axis PA is parallel to the curling axis
CA passing through the joint 35. It will be noted that the
positioning axis PA is parallel to the curling plane CP while the
curling axis CA is perpendicular to the curling plane CP. In this
embodiment, it will be noted that the positioning axis PA
substantially intersects the curling axis CA and lies within the
curling plane CP.
While fingers 34 may be a single rigid member, those illustrated
have multiple links joined by revolute joints to increase the
ability of the finger to constrain an object and thus its
versatility. The fingers 34 may have any number of links, however,
three links are illustrated and have been found sufficient when
used in combination with other like fingers to approximate the
human hand. The links illustrated are a base link 40, an
intermediate link 41 and a distal link 42. The base link 40 is
connected at one end to the bracket 32 through the revolute joint
35. One end of the intermediate link 41 is connected to the other
end of the base link 40 through a revolute joint 44 so that link 41
is pivoted to link 40 about a second curling axis CA-2 parallel to
the axis CA of joint 35. One end of the distal link 42 is connected
to the other end of the intermediate link 41 through a third
revolute joint 45 so that link 42 is pivoted to link 41 about a
third curling axis CA-3 parallel to the second axis CA-2 and base
axis CA.
Each link is provided with a gripping surface 46 to engage an
object as is apparent. While only one gripping surface 46 is
provided on one side of each link, it is to be understood that such
surfaces may be provided on both sides if the finger is to be
double acting as will become more apparent.
To limit the amount of movement between links 40-42 and with
bracket 32, a stop 48 may be provided on each end of base link 40
at the revolute joints 35 and 44 as well as on the distal link 42
at the revolute joint 45. The stops 48 may be configurated
differently depending on the movement to be controlled, however,
the stops 48 illustrated limit the opening movement of the links to
a position in which the links are longitudinally aligned in a
substantially straight path P as seen in FIGS. 2 and 5 and the
entire finger 34 so that the path P is substantially normal to the
working surface 23 of the palmar plate 21 when the finger assembly
12 is in its normal open position.
It will also be understood that while the fingers 34 could be
curled away from path P in either direction in a plane CP, the
embodiment shown curls the fingers 34 away from path P in only one
direction and that is in the direction toward the surface 46 as
indicated by arrow C in FIGS. 2 and 5. The finger 12 is shown in a
first curled position in FIG. 2 by dashed lines and in another
curled position by phantom lines in FIG. 5.
FINGER DRIVE MECHANISM
Any of many systems may be used to pivot links 40-42 with respect
to each other and the finger 12 with respect to bracket 32 and the
working surface of palmar plate 21. For instance, the links 40-42
may be pivoted independently at each revolute joint 35,44 and 45 or
the pivoting at the joints may be coupled in any desired fashion.
Several systems which can be used are cross four-bar chains,
miniature compound pulleys, four-bar chains with an expanding link
and tension cables. Cross four-bar chains are dependable, easily
built, and can transmit an angular displacement to the finger links
in a continuously compounding manner. Miniature compound pulleys
develop a high mechanical advantage and allow the finger links to
bend through large angles. Expanding link four-bar chains can be
used to drive the links easily with a high mechanical advantage and
reasonable losses. Tension cables rotate the links by simple direct
contact and require very little space. The finger driving mechanism
14 is shown by way of example only and is a tension cable-pulley
system.
The mechanism 14 is mounted in frame 31 and rotatable therewith so
that the relative positions are maintained between the finger 34
and driving mechanism 14 as the finger assembly 12 is rotated about
its positioning axis PA. Because the motion of the finger 34 is
attempting to duplicate that of the human finger, the base revolute
joint 35 is independently rotated while the second and third
revolute joints 44 and 45 are concurrently rotated in this
illustration.
The mechanism 14 includes a curl drive unit 50 and a pinch drive
unit 51 as best seen in FIG. 5. Unit 50 includes a reversible drive
motor 52 drivingly connected to a first multiple sheave winding
drum 54. A third cable drive 55 is operatively connected to one
sheave of drum 54 and serves to selectively close the third
revolute joint 45. Third cable drive 55 includes a pair of pulleys
56, one being rotatably journalled in the distal link 42 on the
opposite side from the revolute joint 45 and one being rotatably
journalled in the intermediate link 41 on the opposite side from
joint 45. A flexible cable 58 is wound around pulleys 56 and
attached to drum 54 in such a way that when cable 58 is wound upon
drum 54 as drum 54 is rotated in a first direction, the cable 58
forces the pulleys 56 toward each other to force the link 45 to
pivot toward link 44 about the third curl axis CA-3. A second cable
drive 60 similar to drive 55 is operatively connected to another
sheave of the winding drum 54 to selectively close the second
revolute joint 44. The second drive 60 includes a pair of pulleys
61 journalled in links 41 and 40 across joint 44 and drive cable 62
wound therearound and connected to drum 55 so that, as the drum
rotates in the first direction, the pulleys 61 will be drawn
together to pivot link 41 toward link 40 about the second curl axis
CA-2.
The unit 50 also includes an uncurling cable drive 64 operatively
connected to yet another sheave of the first winding drum 54 and
serves to concurrently open the second and third revolute joints 44
and 45. The drive 64 includes a pair of pulleys 65, one rotatably
journalled in the inboard end of link 42 at the stop 48 and the
other rotatably journalled in the outboard end of base link 40 at
stop 48. A slack adjustment pulley 66 is rotatably journalled in
link 41 intermediate its ends and is spring urged toward the
gripping surface 46. A flexible cable 68 is wound around pulleys 65
and 66 and connected to winding drum 54 in such a manner that when
drum 54 is rotated oppositely to the first direction, the pulleys
65 will be forced toward pulley 66 to open the links 41 and 42
about the curling axes CA-2 and CA-3. Thus, as the drum 54 is
rotated in the first direction (counterclockwise in FIG. 5), the
links 41 and 42 will be concurrently curled, and as drum 54 is
rotated in the opposite direction (clockwise in FIG. 5) the links
41 and 42 will be uncurled to straighten the finger 34.
Unit 51 includes a reversible drive motor 70 drivingly connected to
a second multiple sheave winding drum 71. A first cable drive 72 is
operatively connected to one sheave of drum 71 and serves to
selectively close the first revolute joint 35. First cable drive 72
includes a pair of pulleys 74, one being rotatably journalled in
the base link 40 on the opposite side from the revolute joint 35
and one being rotatably journalled in the bracket 32 on the
opposite side from joint 35. A flexible cable 75 is wound around
pulleys 74 and attached to drum 71 in such a way that when cable 75
is wound upon drum 71, as the drum 71 is rotated in a first
direction, the cable 75 forces the pulleys 74 toward each other to
force the link 40 to pivot toward bracket 32 about the first curl
axis CA to impart a pinching movement to finger 34.
The unit 51 also includes an unpinching cable drive 76 operatively
connected to another sheave of the second winding drum 71 and
serves to concurrently open the first revolute joint 35. The drive
76 includes a pulley 78 rotatably journalled in the inboard end of
link 40 at the stop 48. Pulley 79 is rotatably journalled in
bracket 32 and is spring urged away from revolute joint 35. A
flexible cable 80 is wound around pulleys 78 and 79 and connected
to winding drum 71 in such a manner that when drum 71 is rotated
oppositely to the first direction, the pulley 78 will be forced
toward pulley 79 to open the link 40 about the curling axis CA.
Thus, as the drum 71 is rotated in the first direction (clockwise
in FIG. 5), the link 40 will be rotated to cause the finger 34 to
pinch, and as drum 71 is rotated in the opposite direction
(counterclockwise in FIG. 5) the link 40 will be unpinched to
straighten the finger 34.
POSITIONING MECHANISM
The positioning mechanism 15 uses a single drive motor to drive the
finger assemblies 12 into their various prehensile modes. If the
fingers 34 can be pinched or curled in both directions in the
curling plane CP away from their normal path P, then it is
necessary to rotate only two finger assemblies 12 about their
positioning axes PA. While various mechanisms may be used to rotate
the assemblies 12, the mechanism shown rotates all three finger
assemblies 12 to allow the fingers 34 to be pinched or curled in
only one direction away from normal path P.
Referring now to FIG. 3, the mechanism 15 includes a positioning
drive motor 81 mounted on palmar plate 21 within cavity 25. The
drive shaft 82 of motor 81 mounts drive gear 84 on the lower end
thereof with a pitch diameter d.sub.1. The drive gear 84 meshes
directly with a gear 85 on the pivot shaft 38 of finger assembly
and drives a driven gear 86 on shaft 38 of assembly 12.sub.c
through idler gear 88. Gears 85, 86 and 88 have pitch diameters
d.sub. , d.sub.3 and d.sub.4 respectively. A four-bar link 89 is
pinned at one end to 84 by drive pin 90 located from the rotational
axis of gear 84 a distance r.sub.1 as will become more apparent.
The link 89 has an effective length L and its opposite end is
pinned to a four-bar gear 91 through a driven pin 92. The pin 92 is
located from the rotational axis of gear 91 a distance r.sub.2 as
will become more apparent. The four-bar gear 91 meshes with a
driven gear 94 on the pivot shaft 38 of finger assembly 12.sub.a to
drive same.
The mechanism 15 is known as a "double dwell" mechanism and
progressively rotates finger assemblies 12 from the three-jaw
prehensile mode (bending direction shown by solid lines in FIGS. 3
and 4) to the wrap prehensile mode (bending direction shown by
dashed lines) to the spread prehensile mode (bending direction
shown by phantom lines) to the tip prehensile mode (bending
direction shown by dot-dash lines). As gear 84 is rotated, the
drive pin 90 assumes the solid line position on gear 84 in FIG. 3
labelled P.sub.j for the three-jaw prehensile mode; assumes the
dashed line position labelled P.sub.w on gear 84 for the wrap
prehensile mode which is displaced from position P.sub.j by angle
.alpha.; assumes the phantom line position labelled P.sub.s on gear
84 for the spread prehensile mode which is displaced from position
P.sub.w by angle .beta.; and assumes the dot-dash line position
labelled P.sub.t on gear 84 for the tip prehensile mode which is
displaced from position P.sub.s by angle .theta.. With the initial
three-jaw prehensile mode position taken as the zero position and
clockwise angular displacement of the finger assemblies 12 as seen
in FIG. 3 taken as negative, a comparison of the resulting angular
displacement of the finger assemblies 12 is shown in TABLE I
attached to the end of this specification.
As seen from TABLE I, finger assembly 12.sub.a is not effectively
rotated while assembly 12.sub.b is rotated 60.degree. clockwise and
assembly 12.sub.c is rotated 60.degree. counterclockwise when gear
84 moves pin 90 from position P.sub.j to position P.sub.w . As gear
84 rotates pin 90 from position P.sub.j to position P.sub.s ,
assembly 12.sub.a is effectively rotated 180.degree.
counterclockwise, assembly 12.sub.b is rotated 180.degree.
clockwise and assembly 12.sub.c is rotated 180.degree.
counterclockwise. As gear 84 rotates pin 90 from position P.sub.j
to position P.sub.t , assembly 12.sub.a is effectively rotated
180.degree. counterclockwise; assembly 12.sub.b is rotated
330.degree. clockwise, and assembly 12.sub.c is rotated 330.degree.
counterclockwise. Thus it will be seen that the various prehensile
patterns may be achieved by motor 81 rotating drive shaft 82
counterclockwise from position P.sub.j to position P.sub.t and
clockwise from position P.sub.t back to position P.sub.j. Therefore
motor 81 is reversible and can stop gear 84 in any of the above
positions.
Angles .alpha., .beta. and .theta. are determined by equation:
.alpha./2 + .beta. + .theta./2 = 180.degree.
which produces an angle .alpha. = 48.degree., .beta.= 96.degree.
and .theta.= 120.degree.. The ratio of the pitch diameter d.sub.1
of drive gear 84 to each of the pitch diameters d.sub.2 and d.sub.3
of driven gears 85 and 86 is 1.25. To avoid locking mechanism 15,
the pitch diameter d.sub.5 of four-bar gear 91 is equal to three
times the pitch diameter d.sub.6 of the driven gear 94. The
distance r.sub.2 is always less than one-half of the pitch diameter
d.sub.5 of four-bar gear 91 and the distance r.sub.1 is always
greater than one-half of the pitch diameter d.sub.1 of drive gear
84. Where distance r.sub.1 = r.sub.2 cos 60.degree., the length L
of four-bar link 89 can be calculated as follows:
L .gtoreq. [ (.alpha..sub.1 /2 + .alpha..sub.5 /2 + t).sup.2 -
(r.sub.2 cos 60.degree.).sup.2 ].sup.1/2
where t = outside diameter -- pitch diameter of four-bar gear 91 or
motor gear 84. Thus, it will be seen that assembly 12.sub.a is at
the same position P.sub.a during the three-jaw and wrap modes and
at the same position P.sub.b during the spherical and tip modes
while the finger assemblies 12.sub.b and 12.sub.c change position
for each mode. As the pin 90 moves from position P.sub.w to P.sub.s
and position P.sub.s to P.sub.t , the pin 92 is moved through angle
.pi.. While various sizes of the gears 84, 85, 86, 88, 91 and 94 as
well as the length of link 89 may be varied, one representative
size is set forth in TABLE II attached to the end of this
specification.
While the positioning axes PA are illustrated parallel to each
other it is to be understood that these axes may be skewed with
respect to each other without departing from the scope of the
invention. Likewise, while each axis PA is also illustrated as
parallel to its respective curling plane CP, it is to be understood
that it may be skewed with respect to the plane CP without
departing from the scope of the invention. In the same manner it is
to be understood that the curlling axes CA of each finger assembly
12 may be skewed with respect to each other.
While specific embodiments of the invention have been disclosed
herein, it is to be understood that full use may be made of
modifications, substitutions and equivalents without departing from
the scope of the inventive concept.
TABLE 1 ______________________________________ COMPARISON OF
ANGULAR DISPLACEMENT OF FINGERS Prehensile Finger Finger Finger
Mode Assembly 12.sub.a Assembly 12.sub.b Assembly 12.sub.c
______________________________________ Three-Jaw 0.degree.
0.degree. 0.degree. Wrap 0.degree. -60.degree. +60.degree. Spread
+180.degree. -180.degree. +180.degree. Tip +180.degree.
-330.degree. +330.degree.
______________________________________
TABLE II ______________________________________ REPRESENTATIVE
SIZES COMPONENT DIMENSION SIZE
______________________________________ d.sub.1 2.10" d.sub.2 1.80"
d.sub.3 1.80" d.sub.4 Practical d.sub.5 1.50" d.sub.6 .50" r.sub.1
.419" r.sub.2 .65" L 1.83"
______________________________________
* * * * *