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 Title: |
US4666362:
Parallel link manipulators
[ Derwent Title ]
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| Country: |
US United States of America
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| Inventor: |
Landsberger, Samuel E.; Cambridge, MA
Sheridan, Thomas B.; West Newton, MA
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| Assignee: |
Massachusetts Institute of Technology, Cambridge, MA
other patents from MASSACHUSETTS INSTITUTE OF TECHNOLOGY (357270) (approx. 2,706)
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| Published / Filed: |
1987-05-19
/ 1985-05-07
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| Application Number: |
US1985000731711
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| IPC Code: |
Advanced:
B25J 17/02;
Core:
more...
IPC-7:
B66C 1/00;
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| U.S. Class: |
Current:
414/735;
212/239;
901/021;
Original:
414/735;
901/021;
212/239;
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| Field of Search: |
414/007,735,680,687,688
901/021
248/178,279
212/193,239,262
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| Government Interest: |
The Government has rights in this invention pursuant to Grant Number NA81-AA-D-00069 awarded by the National Oceanic and Atmospheric Administration.
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| Priority Number: |
| 1985-05-07 |
US1985000731711 |
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| Abstract: |
The invention is embodied in a manipulator for supporting and transmitting movement to a tool or the like comprising a base 10, a movable tripod tip 16 or plate 60 spaced from the base to which a tool may be attached, an elongated central spine 12, one end of which is attached to the tripod tip and the other pivotally mounted on the base, variable tension applying means comprising at least three cables 18 extending from the tripod tip to the base in a tripod configuration, and means 22, 24 at the base to continuously vary the length of each cable to vary its length.
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| Attorney, Agent or Firm: |
Hamilton, Brook, Smith & Reynolds ;
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| Primary / Asst. Examiners: |
Paperner, L. J.; Dayoan, D. Glenn
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| Family: |
None
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First Claim:
Show all 19 claims |
We claim:
1. A manipulator for supporting and transmitting six degrees of freedom to a tool or the like comprising:
- a base,
- a movable tripod tip spaced from the base and to which a tool or the like may be attached,
- a passive, compressible, central spine, one end of which is attached to the tripod tip and the other pivotally mounted on the base,
- means to provide a preset, compressive force in the spine,
- variable tension applying means comprising six cables extending from the tripod tip to the base in a tripod configuration for constraining the six degrees of freedom,
- one end of each cable being fixed to the tripod tip and the opposite end being accumulated at the base to permit the length of each cable to be varied, and
- means at the base to control the length of each cable while applying a compressive force to the central spine and and a tensile force to the other cables,
- whereby the tripod tip may be moved through six degrees of freedom by varying the length of the cables.
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| Background / Summary: |
Show background / summary
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| Drawing Descriptions: |
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| Description: |
Show description
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| Forward References: |
Show 20 U.S. patent(s) that reference this one
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