Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Reexamination Certificate
1999-02-10
2001-07-24
Estremsky, Sherry (Department: 3681)
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
C074S490050, C074S490030
Reexamination Certificate
active
06263755
ABSTRACT:
FIELD OF THE INVENTION
The present invention is related to robotic manipulators having a plurality of limbs connected by joints. More specifically, the present invention is related to robotic manipulators having a plurality of limbs connected by joints where the limbs comprise nested tubes.
BACKGROUND OF THE INVENTION
There are a number of desirable properties for robotic manipulators, and it is difficult to achieve all of these at the same time:
no backslip
direct drive
rigid construction
hollow cavity to transport tubing and electrical cables
light weight
statically mounted motors
simple mechanism
high scalability
The present invention satisfies all of these constraints. It does this by using a novel drive mechanism, which transmits multiple degrees of freedom of movement through a series of N concentrically arranged hollow tubes. All mechanical movement from one stage is embodied in the relative rotation about a common central axis of these tubes, which can also provide mechanical support. The drive power of any given tube is either:
used to rotate or bend the next stage, or
transmitted to a system of concentric tubes that forms the next stage
This process is continued in a succession of stages, until all N degrees of freedom have been used.
SUMMARY OF THE INVENTION
The present invention pertains to a robotic manipulator. The manipulator comprises an end. The manipulator comprises a drive limb comprising N concentrically nested tubes, where N is greater than or equal to 2 and is an integer. The limb has a top and a bottom and is connected to the end at the top of the limb. The manipulator comprises a drive mechanism connected with the drive limb at the drive limb's bottom to move the limb and the end.
The present invention pertains to a method for moving a robotic manipulator. The method comprises the steps of rotating an outside concentric tube of a drive limb. Then there is the step of turning a support structure of a joint with the outside tube which contacts the support structure. Next there is the step of rotating a second limb with an axle which contacts the second limb and the support structure to cause the second limb to rotate about the gear.
REFERENCES:
patent: Re. 35584 (1997-08-01), Sonoda et al.
patent: 4911033 (1990-03-01), Rosheim et al.
patent: 5656905 (1997-08-01), Tsai
patent: 5816105 (1998-10-01), Adelstein
patent: 5823061 (1998-10-01), Tomiyasu
patent: 5881604 (1999-03-01), Miwa
patent: 5901613 (1999-05-01), Forslund
patent: 6047610 (2000-04-01), Stocco et al.
Estremsky Sherry
Lewis Tisha D.
New York University
Schwartz Ansel M.
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