Parallel control arm with two branches

Details Parallel control arm with two branches Parallel control arm with two branches

2006-08-08

2006-08-08

Fenstermacher, David (Department: 3682)

Machine element or mechanism

Control lever and linkage systems

Multiple controlling elements for single controlled element

C074S490050, C901S021000

Reexamination Certificate

active

07086307

ABSTRACT:
The robot arm is composed of two parallel branches (2, 3) formed from a reduced number of segments (5, 6, 7) and connected to each other by a wrist (5) through a wrist holder (8), the directions of which are kept approximately constant by transmissions (12to16). The working space of this control arm is large and it is free of any kinetic singularities except at the end positions, and good decoupling of translation and rotation movements is achieved.

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Hiroo Iwata, “Pen-based Haptic Virtual Environment”, Sep. 18, 1993, IEEE, pp. 287-292.

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