 First Claim:
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I claim:
1. Apparatus for automatically moving a tool in a predetermined program of motion in three dimensions comprising:
- a frame;
- a control signal generator producing three individual coordinated programs A, B and C of motion control signals;
- three screw-threaded shafts M, N, and O journalled in bearings mounted on said frame and separated from each other;
- three signal-controlled motors D, E and F connected to receive respectively the programs A, B and C and to rotate the shafts M, N, and O correspondingly to said programs, the shafts M, N, and O being connected to be rotated by said motors D, E and F respectively;
- three traveling blocks G, H and I having female screw threads formed therein and threaded respectively onto the threads of the shafts M, N and O, so as to be propelled to and fro in rectilinear paths along the axes of, and proportionately to the rotations of, the shafts M, N and O respectively;
- three leg members J, K and L each connected at one end to a respective one of the blocks G, H and I by a respective on of three rotational hinge connections P, Q and R;
- said leg members J, K and L being connected together by rotational connections at locations thereon remote from their respective rotational hinge connections P, Q and R to the blocks G, H and I;
- a tool supported by the leg member J at a location thereon remote from the rotational hinge connection P;
- said rotational hinge connections P, Q and R having axes of rotation U, V and W respectively, and confining the relative rotational motion between each one of the respective leg members J, K and L and its corresponding respective one of the blocks G, H and I exclusively to rotational motion about its corresponding respective one the axes U, V and W;
- each of the axes U, V and W being disposed at an angle of at least 45 degrees to the axis of its corresponding respective one of the shafts M, N and O;
- each of the rotational hinge connections P, Q and R being the sole rotational connection between its respective one of the leg members J, K and L and its corresponding respective one of the blocks G, H and I;
- each of said leg members J, K, and L being free and unconfined to rotate about an axis at an angle of at least 45 degrees to the axis of its corresponding respective one of the shafts M, N, and 0; and
- each of said blocks G, H, and I being free and unconfined, except as constrained by its respective one of the rotational hinge connections P, Q, and R to the assemblage of the leg members J, K, and L, to rotate about an axis parallel to the axis of its corresponding respective one of the shafts M, N, and O.
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