公开(公告)号：US20160022365A1

公开(公告)日：2016-01-28

申请号：US14806331

申请日：2015-07-22

Applicant: BRIGHAM YOUNG UNIVERSITY

Inventor： Brian D. JENSEN ,  Larry L. HOWELL ,  Spencer P. MAGLEBY ,  Bryce EDMONDSON ,  Jordan TANNER ,  Clayton GRAMES

IPC: A61B19/00 ,  F16H19/00

CPC classification number: A61B34/71 ,  A61B34/30 ,  A61B2017/0069 ,  A61B2017/2927 ,  A61B2034/305 ,  A61B2034/306 ,  B25J9/104 ,  B25J17/0258 ,  F16H19/001 ,  F16H55/0813 ,  F16H55/082 ,  F16H55/22

Abstract: According to an aspect, a device may include a first member, a second member, and a wrist mechanism disposed between the first member and the second member. The wrist mechanism may include a first cylinder portion coupled to the first member, and a second cylinder portion coupled to the second member. The first cylinder portion may be rollably engaged with the second cylinder portion such that movement of the first cylinder portion with respect to the second cylinder portion is configured to cause the first member to move in at least two directions with respect to the second member. The second cylinder portion may be positioned with respect to the first cylinder portion such that a longitudinal axis of the second cylinder portion is orthogonal to a longitudinal axis of the first cylinder portion.

Abstract translation: 根据一方面，一种装置可以包括设置在第一构件和第二构件之间的第一构件，第二构件和手腕机构。 手腕机构可以包括联接到第一构件的第一气缸部分和联接到第二构件的第二气缸部分。 第一气缸部分可以与第二气缸部分可滚动地接合，使得第一气缸部分相对于第二气缸部分的运动被构造成使得第一部件相对于第二部件在至少两个方向上移动。 第二气缸部分可以相对于第一气缸部分定位，使得第二气缸部分的纵向轴线与第一气缸部分的纵向轴线正交。