Machine element or mechanism – Control lever and linkage systems – Multiple controlled elements
Patent
1998-12-14
2000-02-22
Herrmann, Allan D.
Machine element or mechanism
Control lever and linkage systems
Multiple controlled elements
7449004, 745016, 33 251, 414 7, 414917, 901 21, 359477, B25J 302
Patent
active
060267011
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
The present invention relates to improvements made to remote manipulation apparatuses of the "master-slave" type which are intended to allow the remote manipulation of any object by a direct mechanical transmission.
An apparatus of this kind allows an operator, actuating a "master" device lying in a control space, to manipulate objects using the "slave" device lying in a distance and inaccessible work space. This apparatus may be arranged in such a way that it modifies the amplitude of the movements made by the operator, for example to reduce it, this then making it possible to operate in a small work space homothetic with the control space.
The known remote manipulation apparatuses are generally made from articulated mechanical structures of the "series" type: they therefore have their drawbacks of heaviness and bulkiness.
BRIEF SUMMARY OF THE INVENTION
The object of the present invention is essentially to propose an improved remote manipulation apparatus which enjoys the advantages of an appreciable reduction in weight and of bulk as exhibited by articulated structures of the parallel type, and more particularly by those described in document FR-A-2 672 836 in the name of the Applicant. Furthermore and above all, the object of the invention is to allow the numerous types of mobility of the articulations disclosed in the aforementioned document to be put to good use in order to achieve remote manipulation devices with six degrees of freedom which offer optimum flexibility for use.
To this end, a remote manipulation apparatus of the "master-slave" type with six degrees of freedom, three in rotation and three in translation, designed in accordance with the invention, is essentially characterized in that it comprises: comprising two parallel arms each joined, on the one hand, to a crossmember by an articulation with one degree of freedom in rotation about an axis perpendicular to the plane of the parallelogram and, on the other hand, to a structure by an articulation with two degrees of freedom in rotation about two axes, the first axis being perpendicular to the plane of the parallelogram and the second axis being supported by the fourth side of the parallelogram, the four articulations lying at the vertices of the parallelogram, the two arms extending beyond their respective articulation to the structure; and a "slave" device, these devices being arranged respectively at the free end of each arm, each device comprising: member in the "master" device, or the controlled member in the "slave" device, the moving member being articulated at its center, with three degrees of freedom in rotation, to a support mounted on the base with the possibility of axial displacement parallel to the axis of the arm, by virtue of which arrangement the moving member has a degree of freedom in axial translation relative to said arm, inserted between the base and the moving member and surrounding the support, each actuator device comprising the base so as to be capable of sliding therein parallel to the axis of the arm, rotation to the end of the linkage and to the moving member, the respective positions of the linkages on the base and of the articulations of the connecting pieces on the moving element being such that the connecting pieces are capable of creating moments about three axes of rotation on the moving member, giving it three degrees of freedom in rotation with respect to the corresponding arm, inserted "master" device and the four corresponding actuator devices of the "slave" device, moving control member of the "master" device and of the moving controlled member of the "slave" device, linear displacement of one actuator device or of the support of the moving control member of the "master" device is transmitted in the form of a linear displacement in the same sense of the corresponding actuator device or of the support of the moving controlled member of the "slave" device.
An articulation device for the parallel structure like the aforementioned one is already known from the document ci
REFERENCES:
patent: 2774488 (1956-12-01), Goertz et al.
patent: 3369427 (1968-02-01), Brighton et al.
patent: 3966162 (1976-06-01), Hadley
patent: 4393728 (1983-07-01), Larson et al.
patent: 4826087 (1989-05-01), Chinery
patent: 5397304 (1995-03-01), Truckai
Herrmann Allan D.
Onera (Office National d'Etudes et de Recherches Aerospatiales
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