Three degree of freedom parallel mechanical linkage
Patent 5816105 Issued on October 6, 1998. Estimated Expiration Date: 
July 26, 2016. Estimated Expiration Date is calculated based on simple USPTO term provisions. It does not account for terminal disclaimers, term adjustments, failure to pay maintenance fees, or other factors which might affect the term of a patent.
July 26, 2016. Estimated Expiration Date is calculated based on simple USPTO term provisions. It does not account for terminal disclaimers, term adjustments, failure to pay maintenance fees, or other factors which might affect the term of a patent.Patent ReferencesTransmission operating device Device for the movement and positioning of an element in space Mechanically-linked side stick controllers with isolated pitch and roll control movement Force and torque converter Three function control system Parallel robot Three function control mechanism Multi-axial joy stick device Six axis machine tool Method and system for providing a tactile virtual reality and manipulator defining an interface device therefor InventorAssigneeApplicationNo. 700584 filed on 07/26/1996US Classes:74/471XY, Control moves in two planes74/490.03, Including electric motor318/568.11, Multifunction manipulator (i.e., Robot)345/161, Joystick901/9, Closed loop (sensor feedback controls arm movement)901/23, Electric motor901/46SENSING DEVICEExaminersPrimary: Bonck, Rodney H.Assistant: Grabow, Troy Attorney, Agent or FirmForeign Patent References
International ClassesB25J 009/00B25J 019/02 G05G 013/00 AbstractA 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.Other References
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