Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1997-04-18
2000-04-11
Jeffery, John A.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
7449003, 901 23, G05G 1100
Patent
active
060476109
ABSTRACT:
A six degree of freedom structure forming a robotic manipulator, consisting of two five-bar linkages (30 and 80) set on rotatable base linkages (18 and 58); the output points (44 and 94) of the five-bar linkages (30 and 80) are attached to a rigid payload platform (48) by universal joints (46 and 96), respectively. Each linkage (30 and 80) on its rotatable bass can position its output point in three degrees of freedom, but since the two five-bar linkages (30 and 80) are tied together at the platform (48), five degree of freedom motion of the platform (48) results--three degrees of freedom in translation, and two of rotation. A seventh motor (100), mounted for example on one of the five bar linkages, provides power to rotate the platform about the axis defined by the two universal joints (46 and 96). The rotational torque is coupled through one of the universal joints (46 or 96).
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Salcudean Septimiu E
Stocco Leo J
Fenstermacher David
Jeffery John A.
Rowley C. A.
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