Machine element or mechanism – Control lever and linkage systems – Multiple controlled elements
Patent
1992-04-13
1993-11-23
Braun, Leslie A.
Machine element or mechanism
Control lever and linkage systems
Multiple controlled elements
74479BW, 901 26, 901 23, G05G 900, B25J 1100
Patent
active
052633829
ABSTRACT:
A motion device with three legs provides six degrees of freedom using a pair of motor assemblies (22) to drive each leg. Each leg has a differential drive (28, 30, 32, 40) for providing a pitch-roll joint connected to an elbow (16) for providing a pitch joint connected to a second roll joint (56) connected to a universal joint (62, 72). An actuated plate (10) is connected to the universal joint. All of the motors drive the differential drive from the base of the unit and do not add inertia to the actuated plate. The same kinematic arrangement can be used for hand controllers as well as for end effectors and other movable platforms.
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HEXA: a fast six-DOF fully-parallel robot by F. Pierrot, P. Dauchz and A. Fournier, pp. 1158-1163, IEEE, 1991.
A Platform With Six Degrees of Freedom by D. Stewart vol. 180 Pt 1 No. 15, Proc Instn Mech Engrs 1965-66.
A Parallel Robot-Arm Regional Structure With Actuational Redundancy by Theodore Kokkinis and Pierre Millies pp. 629-641, 1991.
RSI Hand Controller and brochure cover page photographs, Nov. 21, 1991.
Brooks Thurston L.
Cleary Kevin R.
Uebel Mark
Braun Leslie A.
Denson-Low Wanda K.
Hughes Aircraft Company
Laub David W.
Lindeen III Gordon R.
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