Material or article handling – Article manipulator moves analogous with human hand – finger,... – Motion of hand – finger – or arm member multiplied or reduced...
Patent
1986-12-15
1988-07-12
Spar, Robert J.
Material or article handling
Article manipulator moves analogous with human hand, finger,...
Motion of hand, finger, or arm member multiplied or reduced...
33 255, 74491, 414 7, 414917, B25J 302
Patent
active
047566558
ABSTRACT:
A manipulating mechanism is disclosed having a control handle adapted to be positioned freely in three dimensions, a fixture for supporting a tool to be positioned, a linkage system which causes the end of the tool to move in the same direction as the control handle and a support structure. The linkage system includes a first linkage connected between the control handle and an effective ball-and-socket joint and a second linkage connected between the effective ball and socket joint and the fixture. Each linkage includes four link members rotatably connected in a parallelogram and a gimbal connected to one of the link members for mounting the linkage from the support structure.
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patent: 2595282 (1952-05-01), Monchablon
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patent: 4298300 (1981-11-01), Francols et al.
patent: 4329110 (1982-05-01), Schmid
patent: 4329111 (1982-05-01), Schmid
Smith P. McCoy
Spar Robert J.
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