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公开(公告)号：US5847528A
公开(公告)日：1998-12-08
申请号：US446060
申请日：1995-05-19
申请人： Raymond Chung-Ying Hui , Vincent Hayward , Alain Gerard Ouellet , Walter Peruzzini , Pedro Gregorio , Andrew Wang , George Vukovich
发明人： Raymond Chung-Ying Hui , Vincent Hayward , Alain Gerard Ouellet , Walter Peruzzini , Pedro Gregorio , Andrew Wang , George Vukovich
CPC分类号： B25J17/0266 , B25J9/106 , Y10T74/20207
摘要： The subject invention provides a parallel or closed loop mechanism for moving and positioning a member in space. The mechanism includes three branches each provided with at least two link members being serially connected together by a spherical elbow joint whereby the first and second link members are rotatable with respect to each other about any axis passing through a center of the first joint. The mechanism is provided with actuators for moving each branch and the first links of each branch are rigidly connected at an end portion thereof to the actuator means. The mechanism includes three revolute joints each defining a longitudinal axis of rotation. Each revolute joint is connected to an associated second link member so that the longitudinal axes of all third joints intersect at a point and the revolute joints are interconnected so that the three branches form three parallel or closed loops.
摘要翻译： 本发明提供了一种用于在空间中移动和定位构件的平行或闭环机构。 该机构包括三个分支，每个分支具有至少两个通过球形肘关节连接在一起的连杆构件，由此第一和第二连杆构件围绕穿过第一关节的中心的任何轴可相对于彼此旋转。 该机构设置有用于移动每个分支的致动器，并且每个分支的第一链节在其端部处刚性地连接到致动器装置。 该机构包括三个旋转接头，每个旋转接头限定纵向旋转轴线。 每个旋转接头连接到相关联的第二连杆构件，使得所有第三关节的纵向轴线在一个点处相交，并且旋转接头互连，使得三个分支形成三个平行或闭合的环路。
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公开(公告)号：US5673595A
公开(公告)日：1997-10-07
申请号：US446069
申请日：1995-05-19
CPC分类号： B25J9/106 , Y10T74/20329
摘要： A four degree of freedom manipulator which comprises a pair of elongate rigid legs connected by a joint. The joint acts as an end-effector or an end-effector is attached thereto, The legs effectively intersect at a point in the joint. The positioning end of each leg is attached to a two degree of freedom positioning mechanism that can position it in a two dimensional plane. The connection between the leg and the positioning mechanism has two passive rotational degrees of freedom. Preferably five bar mechanisms are used as the positioning mechanisms. The manipulator can control the position and orientation of an end-effector.
摘要翻译： 一种四自由度操纵器，包括一对通过接头连接的细长刚性支柱。 关节作为末端执行器或末端执行器附接到其上，腿部在关节的某个点处有效地相交。 每个支腿的定位端附接到可以将其定位在二维平面中的两个自由度定位机构。 腿和定位机构之间的连接具有两个被动旋转自由度。 优选地，使用五个杆机构作为定位机构。 操纵器可以控制端部执行器的位置和方向。
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