Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Reexamination Certificate
2002-10-31
2003-12-09
Fenstermacher, David (Department: 3682)
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
C901S016000, C901S026000, C901S028000
Reexamination Certificate
active
06658962
ABSTRACT:
BACKGROUND OF THE INVENTION
The present invention relates to controlled motion mechanical members used as a mechanical manipulator and, more particularly, to a motion controllable, anthropomorphic mechanical manipulator providing some of the capabilities of an upper human torso.
A need for increased automation in the workplace, especially in those workplace environments unsuitable for humans, and a desire to increase the use of animated figures depicting humans or other characters of ten in entertainment situations, has led to substantial efforts in the development of robotics. As a result, substantial advances have occurred in many aspects of robotics.
An important aspect in robotics is the controlling of mechanical manipulators, the portion of a robot used to change the position or orientation of selected objects. In may instances, such manipulators are desired to have motion capabilities similar to those of a human chest, shoulder, arm, wrist and hand, or portions thereof.
Providing a mechanical manipulator simulating such portions of the human torso presents a difficult design problem. The chest portions of a human supporting a shoulder can be considered to have two degrees-of-freedom in motion possibilities available to it, and the shoulder supporting the arm can be considered to have three degrees-of-freedom in motion possibilities available to it. In addition, the elbow can be considered to have a single degree-of-freedom in its possible motion and the wrist can be considered to have three degrees-of-freedom in motion possibilities available for it. Finally, the human palm can be considered to have a degree-of-freedom in its relative motion possibilities while the fingers and thumb thereon can be considered to have four degrees-of-freedom in the motion possibilities thereof.
A number of mechanical joints or mechanical manipulators have been proposed which attempt to exhibit the motion possibilities of the corresponding human joints, and some of these proposals have actually achieved corresponding capabilities to a significant degree. These joints typically have a base on which one side of the joint is fastened, and from which a force imparting arrangement is provided to operate movable members in this fastened portion of the joint. Mechanical transmission arrangements then couple this motion on this fastened side of the joint to the controlled side of the joint to cause that portion to correspondingly move.
However, such joints have of ten been constructed using a substantial number of parts causing significant expense, and with the result that they are of ten difficult to assemble. Further, such joints of ten fail to have the controlled portion thereof exhibit the desired dexterity and range of motion. In addition, the construction have of ten exhibited bulky geometries which do not appear much like those of the human counterparts. Also, control of the controlled side of the joint has of ten been insufficient in the operator not having convenient controlling arrangements available.
FIG. 1
shows a joint, mechanical manipulator, or controlled member motion system,
10
, which can have a very large output operating range in various configurations over which it is free of singularities, and which is operated by various force imparting devices directly or through various drive trains. A compact, ruggedized version of manipulator
10
is shown in
FIG. 1
using yoke and shackle arrangements to rotatably secure the pivoting links provided therein.
Thus,
FIG. 1
shows a perspective view of manipulator
10
in which manipulator
10
is positioned on a mounting arrangement,
11
, which can be connected with an electric motor arrangement, unseen in these figures, that can rotate mounting arrangement
11
in either the clockwise or counterclockwise direction as selected by the user to thereby carry the remainder of joint or manipulator
10
correspondingly with it in these directions. Directly supported on mounting arrangement
11
is a base support,
12
, shown as a rounded corner rectangular solid structure, though different geometrical shapes can be used, having four arms extending out from the main body of the support at the four thickness surfaces thereof initially parallel to the large surfaces of that support, and then bending at right angles away from mounting arrangement
11
. These extending arms each thereby form something of a “U” shape to provide a capture space between the main support body of base support
12
and itself to result effectively in a yoke to rotatably accommodate the ends of pivoting links (described below) therein which are secured there by the use of a pin extending through the arm and pivot link end into the main body that allows the pivot link to rotate thereabout. A corresponding shroud plate extends from the main body of support
12
to each of these arms on the side of its capture space opposite the side thereof through which pivoting link secured therein extends to add support to that arm.
Support
12
has an opening,
13
, (unseen in
FIG. 1
) extending along the central axis of rectangular symmetry for support
12
extending out from mounting arrangement
11
to parallel the outer sides of support
12
. Opening
13
extends through support
12
and from there through mounting arrangement
11
along the axis about which it is capable of rotating manipulator
10
so as to be capable of permitting some desired means extend therethrough such as electrical wiring, optical fibers or some mechanical arrangement, or some combination thereof.
Also shown supported directly on mounting arrangement
11
are a pair of linear actuator support pedestals,
14
, (unseen in
FIG. 1
) connected to mounting arrangement
11
each of which is shown supporting a linear actuator along with the direct mechanical interconnection between that linear actuator and the remaining portions of manipulator
10
. That is, a pair of linear actuators,
15
and
16
, are each rotatably mounted in the corresponding one of pedestals
14
by an outer body thereof,
17
. Linear actuator
16
has an actuator output shaft,
18
, extending from outer body
17
thereof which is directly affixed to a clevis,
19
. Clevis
19
on output shaft
18
of linear actuator
16
is directly and rotatably affixed to a pivoting link,
20
, by a further pin,
21
, through an opening in a boss,
22
, extending from pivoting link
20
(which pin may be in bearings or a bushing mounted in boss
22
positioned about the opening therein). Linear motion by output shaft
18
in actuator
16
outward or inward causes clevis
19
to correspondingly move away from or toward body
17
of linear actuator
16
.
Such motions by clevis
19
forces pivoting link
20
to in turn rotate one way or the other about a pin,
23
, around a rotation axis extending through pin
23
that is more or less perpendicular to the length of link
20
. Pin
23
is directly affixed in an opening in the central rectangular portion of base support
12
and in an opening in an extending arm of base support
12
as two sides of a yoke to extend through the capture space therebetween and through an opening in the end of pivoting link
20
(which pin may be in bearings or a bushing mounted in the opening in link
20
, and pin
23
could be a pivot screw (shoulder bolt) rather than a pin. Such a pivot screw is threaded at the end thereof opposite the screw head only a relatively short distance in from that end to permit its being screwed firmly into base support
12
but only a fixed distance therein to assure a selected length of the screw is exposed outside support
12
The surface of this exposed portion of the screw from support
12
to the screw head is smooth especially if no bearing or bushing is used between this screw and pivoting link
20
lubrication at the least would be likely to be used in this situation).
An identical linear actuator translation drive system for forcing rotational motion of another pivoting link is provided in connection with linear actuator
15
. As seen in
FIG. 1
, a clevis,
19
′, is affixed to o
Fenstermacher David
Kinney & Lange , P.A.
Ross-Hime Designs, Incorporated
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