Direct-drive manipulator for pen-based force display
US5642469A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Nov 3, 1994 |
| Grant date | Jun 24, 1997 |
| Priority date | — |
| Expiry date | Nov 3, 2014 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06F2203/015
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A pen-based direct-drive manipulator enables precision manipulation and force display of a control point within three degrees of freedom. The control point exhibits substantially no backlash, very low friction and very low inertia making it useful as a force display. The manipulator also has a very high force generation bandwidth allowing high frequency force components to be displayed. A parallel actuator structure controls motion over two degrees of freedom in a horizontal plane. The parallel structure is a redundant structure including three chains in parallel coupled at the control point. The redundant structure provides a uniform force capability throughout the manipulator workspace. A pair of rotational actuators rotate the parallel structure about an axis to approximate a linear motion along a third axis. The rotational actuators provide a third degree of freedom for the control point. Motion about the third axis is substantially decouple from motion about the horizontal plane.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.