Arm mechanism with independent control of position and orientati

Details Arm mechanism with independent control of position and orientati Arm mechanism with independent control of position and orientati

1997-10-31

1999-04-06

Herrman, Allan D.

Machine element or mechanism

Control lever and linkage systems

Multiple controlling elements for single controlled element

7449003, 378196, 414917, 901 19, 901 23, 901 41, B25J 1800

Patent

active

058903968

ABSTRACT:
An arm mechanism includes a drive control mechanism that uses an end effector coordinate system and has an end effector drive control mechanism. The drive control mechanism includes an end effector rotational drive control mechanism and an end effector coordinate system translational drive control mechanism. The rotational drive control mechanism has three rotational actuators for driving end effector rotation about each axis separately. The end effector coordinate system translational drive control mechanism has an end effector coordinate system translational actuator to drive translational motion of the object. The drive control mechanism further includes an orientation maintenance mechanism that maintains the orientation of the target object on the absolute coordinate system and two absolute coordinate system translational actuators supported on the orientation maintenance mechanism for providing translational motion of the object along two orthogonal axes on the absolute coordinate system.

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Ken Masamune, et al., "Robotics for Less Invasive Surgery," Collected Papers (V) of the 73.sup.rd General Meeting of the Japan Society of Mechanical Engineers, (1996), pp. 150-151. (with English Abstract).
Mamoru Mitsuishi, et al., "Development of an Inter-World Tele-Micro-Surgery System with Operational Environment Information Transmission Capability," 1995 IEEE International Conference on Robotics and Automation, vol. 3, (1995), pp. 3081-3088.
Koichi Koyano, et al., "Micro Object Handling by a Manipulation System with Concentrated Visual Fields," Robotics and Mechatronics Lectures of the Japan Society of Mechanical Engineers, vol. B, (1995), pp. 1386-1389. (with English Abstract).

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