Decoupled six degree-of-freedom robot manipulator
US5710870A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Sep 7, 1995 |
| Grant date | Jan 20, 1998 |
| Priority date | — |
| Expiry date | Sep 7, 2015 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45123
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
The present invention is a double-jointed, tendon-driven revolute joint, a decoupled tendon-driven wrist, an antibacklash mechanism, a robot control system, and a robot manipulator incorporating the double-jointed, tendon-driven revolute joint, decoupled tendon-driven wrist, and antibacklash mechanism. The robot manipulator is a microsurgical teleoperated robot with actuators located at an actuator base. The overall system architecture includes a slave robot manipulator coupled to an amplifier chassis which is coupled to a control chassis. The control chassis is coupled to a workstation with a graphical user interface. Components of the robot manipulator are categorized into a mechanical sub-system, an electronics sub-system, a servo-control sub-system, and a high-level software control sub-system.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.