Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2004-12-09
2009-02-17
Tran, Khoi H. (Department: 3664)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S247000, C700S249000, C228S001100, C228S008000, C228S009000, C228S004500, C228S110100, C029S230000, C029S623400, C029S748000
Reexamination Certificate
active
07493191
ABSTRACT:
An auxiliary control apparatus mechanically couples forces exerted on a manually operable auxiliary hand control knob to an input member of a micro-manipulator of the type used to move a point of an object such as an ultrasonic bonding tool tip relative to a workpiece in scaled ratios of motions at an end of the micro-manipulator input member. The apparatus includes a 4-bar parallelogram linkage which is mounted to a structural support member of a micro-manipulator, and which includes a rear laterally disposed lateral linkage bar pivotably connected to inner and outer parallel longitudinally disposed linkage bars which are pivotably coupled at front ends thereof to a front laterally disposed linkage bar. An input control arm protrudes downwardly from and forward of the outer longitudinal linkage bar, and a connector arm protrudes laterally inwardly from an inner end of the front lateral linkage bar, inwardly of the inner longitudinal linkage bar; the inner lateral end of the connector arm is pivotably connected to a forward end of the micro-manipulator input member. The rear lateral linkage bar is pivotably mounted onto a pivot axle which protrudes laterally outwards from a trolley block rollably mounted on a fore-and-aft disposed linear bearing guide rail mounted to an outer longitudinal surface of the support structure. Motions of the hand control knob in fore-and-aft left and right, and up and down directions cause corresponding motions of the micro-manipulator input control member and tool tip.
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Chapin William L.
Marc McDieunel
Tran Khoi H.
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