Master manipulator

Details Master manipulator Master manipulator

1986-04-14

1988-02-23

Herrmann, Allan D.

Machine element or mechanism

Control lever and linkage systems

Multiple controlled elements

74523, G05G 902

Patent

active

047262486

ABSTRACT:
When an operator moves the grip member in the first bending direction x or in the second bending direction y or in the third twisting direction z, the three motions are detected by three sensing means independently to drive a slave manipulator in the same way. The master manipulator comprises four members of a first lever pivotable around the axis X, a second lever pivotable around the axis Y, a connecting member, and a link member, which forms a transformable parallelogram with three universal joints as joints. To detect only the third twisting motion z, the above mechanism may be sufficient. However, to detect other two bending motions x and y simultaneously, the master manipulator is further provided with a bending motion transform assembly and a spherical bearing assembly. In the bending motions x and y, a parallelogram is formed, in particular, with the spherical bearing disposed near the third universal joint as joint, and the two motions x and y of the link member are detected by way of the transform assembly.

REFERENCES:
patent: 2549969 (1951-04-01), Hesemann
patent: 3171549 (1965-03-01), Orloff
patent: 3608743 (1971-09-01), Mosher et al.
patent: 4187737 (1980-02-01), Mori et al.
patent: 4374600 (1983-02-01), van Zelm

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