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 Title: |
US5816105:
Three degree of freedom parallel mechanical linkage
[ Derwent Title ]
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| Country: |
US United States of America
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| Inventor: |
Adelstein, Bernard D.; San Mateo, CA
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| Assignee: |
The United States of America as represented by the Administrator of the National Aeronautics and Space Administration, Washington, DC
other patents from UNITED STATES OF AMERICA, NATIONAL AERONAUTICS AND SPACE ADMINISTRATION (597260) (approx. 4,819)
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| Published / Filed: |
1998-10-06
/ 1996-07-26
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| Application Number: |
US1996000700584
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| IPC Code: |
Advanced:
B25J 9/10;
B25J 13/02;
G05G 9/047;
Core:
G05G 9/00;
more...
IPC-7:
B25J 9/00;
B25J 19/02;
G05G 13/00;
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| ECLA Code: |
B25J9/10L; B25J13/02; G05G9/047B;
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| U.S. Class: |
Current:
074/471.XY;
074/490.03;
318/568.11;
345/161;
901/009;
901/023;
901/046;
Original:
074/471.XY;
074/490.03;
318/568.11;
901/009;
901/023;
901/046;
345/161;
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| Field of Search: |
074/490.01,490.03,471 XY
901/009,15,18,19,23,46
414/729
318/568.11,568.12
345/161
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| Priority Number: |
| 1996-07-26 |
US1996000700584 |
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| Abstract: |
A three degree of freedom parallel mechanism or linkage that couples three degree of freedom translational displacements at an endpoint, such as a handle, a hand grip, or a robot tool, to link rotations about three axes that are fixed with respect to a common base or ground link. The mechanism includes a three degree of freedom spherical linkage formed of two closed loops, and a planar linkage connected to the endpoint. The closed loops are rotatably interconnected, and made of eight rigid links connected by a plurality of single degree of freedom revolute joints. Three of these revolute joints are base joints and are connected to a common ground, such that the axis lines passing through the revolute joints intersect at a common fixed center point K forming the center of a spherical work volume in which the endpoint is capable of moving. The three degrees of freedom correspond to the spatial displacement of the endpoint, for instance. The mechanism provides a new overall spatial kinematic linkage composed of a minimal number of rigid links and rotary joints.
The mechanism has improved mechanical stiffness, and conveys mechanical power bidirectionally between the human operator and the electromechanical actuators. It does not require gears, belts, cable, screw or other types of transmission elements, and is useful in applications requiring full backdrivability. Thus, this invention can serve as the mechanical linkage for actively powered devices such as compliant robotic manipulators and force-reflecting hand controllers, and passive devices such as manual input devices for computers and other systems.
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| Attorney, Agent or Firm: |
Bon, Kathleen Dal ;
Lupuloff, Harry ;
Mannix, John G. ;
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| Primary / Asst. Examiners: |
Bonck, Rodney H.; Grabow, Troy
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| Maintenance Status: |
E2 Expired Check current status
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| INPADOC Legal Status: |
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| Family: |
None
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First Claim:
Show all 12 claims |
What is claimed is:
1. A three degree of freedom mechanism for use as a force reflecting interface or in a three dimensional robotic manipulator, comprising:
- a three degree of freedom spherical linkage formed of a first and a second closed loop respectively and defining an endpoint S1 and an endpoint S;
- said first and second closed loops being rotatably interconnected, and made of eight rigid links connected by nine single degree of freedom revolute joints;
- three of said revolute joints being base joints and rotatably connected to a common base; a planar linkage connected to said endpoints S1 and S of said spherical linkage, said planar linkage including a third closed loop formed of five rigid links and revolute joints, the axis line passing through said revolute joints remaining parallel and forming a polygon; and
- wherein axis lines passing through said nine single degree of freedom revolute joints intersect at a common fixed center point O forming the center of a spherical work volume in which said endpoints S1 and S are capable of moving.
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| Background / Summary: |
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| Drawing Descriptions: |
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| Description: |
Show description
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| Forward References: |
Show 22 U.S. patent(s) that reference this one
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| Foreign References: |
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PDF |
Publication |
Date |
IPC Code |
Assignee |
Title |
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SU1472252
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1989-04 |
B25J 11/00
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AZERB POLT I IM.CH.ILDRYMA
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MANIPULATOR |
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| Other Abstract Info: |
DERABS G1998-555766
DERABS G1998-555766
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| Other References: |
Adelstein, B.D., and Rosen, M.J., 1992, "Design and Implementation of a force reflecting manipulandum for manual control research," Advances in Robotics, DSC-vol. 42, ASME, New York, pp. 1-12.
Ellis, R.E., Ismaeil, O.M., Lipsett, M.G., 1993, "Design and evaluation of a high performance prototype planar haptic interface," Advances in Robotics, Mechatronics, and Haptic Interfaces, DSC-vol. 49, ASME, New York, pp. 55-64.
Massie, T.H., and Salisbury, J.K., 1994, "The Phantom haptic interface: a device for probing virtual objects," Dynamic Systems and Control 1994, DSC-vol. 55-1, ASME, New York, pp. 295-301.
Buttolo, P., and Hannaford, B., 1995, "Advantages of actuation redundancy for the design of haptic displays," Proceedings, ASME Dynamic Systems and Control Division, DSC-vol. 57-2, ASME, New York, pp. 623-630.
Millman, P.A., Stanley, M., and Colgate, J.E., 1993, "Design of a high performance haptic interface to virtual environments," Proceedings, IEEE Virtual Reality Annual International Symposium, Seattle, WA, pp. 216-222.
Kazerooni, H., 1995, "The human power amplifier technology at the University of California Berkeley," Proceedings, ASME Dynamic Systems and Controls Division, DSC vol. 57-2, ASME, New York, pp. 605-613.
Iwata, H., 1990, "Artificial Reality with force-feedback: development of desktop virtual space with compact master manipulator," Computer Graphics, 24, 165-170.
Hui, R., Ouellet, A., Wang, A., Kry, P., Williams, S., Vukovich, G., and Perussini, W, 1995, "Mechanisms for haptic feedback," Proceedings, IEEE Int. Conf. Robotics and Automation, Nagoya, Japan, pp. 2138-2143.
Lindemann, R., and Tesar, D., 1989, "Construction and demonstration of a 9-string six dof force reflecting joystick for telerobotics," Proceedings, NASA Conference on Space Telerobotics, vol. 4, JPL Publication 89-7, pp. 55-63.
Marshall, W.C., DeMers, R.E., Schipper, B.W., and Levitan, L., 1993, "Synergistic computing applied to a virtual-pivot six-degree-of-freedom hand controller designed for aerospace telerobotics," Proceedings, AIAA Computing in Aerospace IX, San Diego, CA, AIAA 93-4506.
Gosselin, C., and Angeles, J., 1989, "The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator," ASME J. Mech., Trans., and Automation in Design, 111, 202-207.
(6 pages)
Cited by 2 patents
Berkelman, P.J., Hollis, R.L., and Salcudean, 1995, "Interacting with virtual environments using a magnetic levitation haptic interface," Proceedings, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Pittsburgh, Pennsylvania, vol. 1, pp. 117-122.
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