Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Reexamination Certificate
2005-03-29
2005-03-29
Bucci, David A. (Department: 3682)
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
C074S490010, C074S490030, C901S026000, C901S028000, C901S029000
Reexamination Certificate
active
06871563
ABSTRACT:
An orientation preserving angular swivel joint suitable for mechanical robotic arms and in particular snake robots, the joint comprising two members and an angular bevel gear train that connects the two members of the joint. The gear train allows an actuator to be positioned along the axis of the joint while transferring forces to the periphery of the mechanism, thus creating a high mechanical advantage proportional to the radius of the robot. The gear train is capable of transferring rotational motion between the two members with a constant ratio. Relative rotation between two bays of the joint does not take place, thereby preventing electrical wires running through the body of the snake from being twisted, and thus avoiding failure.
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H. Choset, J. Luntz, E. Shammas, T. Rached, D. Hull and C. Dent, Diesign and Motion Planning for Serpentine Robots, Tokyo Institute of Technology Super Mechano, Mar. 2-3, 2000.
Choset Howie
Shammas Elie
Bruno Enrica
Bucci David A.
Farina Frederic
Van Pelt Bradley J.
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