Three-dimensional input manipulator

Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element

Reexamination Certificate

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Details

C074S490030, C901S023000, C901S009000

Reexamination Certificate

active

06286387

ABSTRACT:

BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to a three-dimensional input manipulator for use in a data input into an upper node apparatus such as a computer and for simulation using such an upper node apparatus.
2. Description of the Related Art
FIG. 18
schematically shows a conventional three-dimensional input manipulator
1100
. For example, when three-dimensionally moving a virtual pointer of a virtual person's finger tip, this three-dimensional input manipulator
1100
is used for inputting a positional information of this virtual pointer.
This three-dimensional input manipulator
1100
includes: a single bar-shaped operation grip
1110
which is manually moved to any position within a predetermined work area and performs input; first operation input means
1120
for supporting one (first) end of this operation grip
1110
with 6 degrees of freedom; second operation input means
1130
for supporting the other (second) end of the operation grip
1110
with 6 degrees of freedom; and grip displacement detection means (not depicted) for detecting changes in position and direction of the operation grip
1110
.
Each of the operation input means
1120
,
1130
has a plurality of link members and 6 revolute joints for rotatably connecting these link members. With this configuration, the operation grip
1110
has 6 degrees of freedom (positional change and state change of the operation grip
1110
).
A state change of the operation grip
1110
is detected by grip displacement amount detection means which detects a rotation angle change for each of the revolute joints generated when the operation grip
1110
is moved or changed in direction and the detected values are used for overall calculations.
In the aforementioned conventional example, however, at least one of the operation input means should have a large movable range, which in turn requires a large size of the apparatus. This is caused by the fact that in this conventional three-dimensional input manipulator, as has been described above, the both ends of the bar-shaped operation grip are supported by the two operation input means.
That is, when operating the bar-shaped operation grip, the operator grasps the intermediate portion of the operation grip and moves one end (a first end) of the operation grip toward a target position or changes the inclination angle of the operation grip. When a state change (inclination angle change) of the operation grip is entered, positional change occurs at one end around the other end or at both ends around the grasped portion of the operation grip.
Here, for one end of the operation grip, the other end moves along the spherical surface having a radius equal to the length of the operation grip. Accordingly, at least one of the operation input means should have an end portion enabling to obtain such a movement. As a result, the operation input means should have a large size.
Moreover, in order to enlarge the movable range of the operation grip, the link members should be designed to be larger, which increases the weight of the link members. The weight of the operation input means itself generates a greater inertia, which decreases the operationability and makes it difficult to perform an accurate positioning. This increases the load on the operator.
SUMMARY OF THE INVENTION
It is therefore an object of the present invention to provide a three-dimensional input manipulator capable of solving the aforementioned problem so as to obtain a small-size manipulator.
The three-dimensional input manipulator claimed in Claim
1
is connected to an upper node apparatus and performs input of coordinates of at least three dimensions, the manipulator comprising: a single operation grip displaced to an arbitrary position within a definite range of three-dimensional space and performing input of coordinates of a current position of the grip; first operation input means for supporting the operation grip with at least five degrees of freedom for changing a state of the operation grip; second operation input means for supporting the operation grip with at least six degrees of freedom for changing a state of the operation grip; grip displacement amount detection means for detecting a position and a direction of the operation grip.
The operation grip is formed to have a bar shape having one end (first end) serving as a grip portion for applying an external force; and the first operation input means and the second operation input means hold the operation grip at the other end (second end) of the operation grip and at a point in the vicinity of the second end.
The operator grasps the operation grip and moves the operation grip in various directions. Here, the first operation input means has at least five degrees of freedom and the second operation input means has at least six degrees of freedom. Accordingly, the operation grip can be moved with at least five degrees of freedom. Thus, the operation grip can be displaced in a three-dimensional space and inclined in any direction.
When the operation grip is moved, the displacement amount is detected by the grip displacement amount detection means, which outputs a detection signal according to the displacement amount, to an upper node apparatus. According to this detection signal, the upper node apparatus calculates three-dimensional position coordinates as input position coordinate data.
Here, the operation grip is held by the two operation input means at two points near the second end, and when the operation grip is displaced or inclined, the relative movement between the two points is performed within a sphere having a diameter equal to the distance between the two points.
Here, it is preferable that the grip portion constitute half or more than half of the longitudinal length of the operation grip (Claim
2
). In this case, the relative movement between the aforementioned two points is performed within a sphere having a diameter which is smaller than the half length of the operation grip.
Moreover, both of the operation input means may hold the operation grip with six degrees of freedom (Claim
3
). In this case, for example, the operation grip can be displaced in a three-dimensional space, inclined in the longitudinal direction, and rotated around the longitudinal direction.
In the three-dimensional input manipulator claimed in Claim
4
, each of the operation input means has: an input position support mechanism for supporting the operation grip at an arbitrary position of the three-dimensional space; and a state variable support mechanism for supporting the operation grip in such a manner that a direction of the operation grip can be changed.
Furthermore, each of the operation input means may have an identical number of revolute joints to the plurality of degrees of freedom (Claim
5
). In this case, the revolute joint may be a reciprocal type in which a rotation axis is vertical to the rotation plane defined by two members, or a rotary type in which a rotation axis is parallel to (is matched with) the line defined by two members. The revolute joint also may be a joint in which a member is displaced in relation to the other member along a predetermined line. It is preferable to employ these revolute joints in combination for realizing a state change with the respective degrees of freedom.
Moreover, each of the input position support mechanisms of the operation input means has three degrees of freedom, and each of the state variable support mechanisms of the operation input means has three degrees of freedom for supporting the operation grip (Claim
7
).
This enables to displace the support end to any position in a three-dimensional space and change the state of the operation grip (inclination and rotation).
The input position support mechanism and the state variable support mechanism of the operation input means have three revolute joints, respectively, and the grip displacement amount detection means includes six sensors for detecting the state change amount of all the revolute joints of the input position support mec

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