Controllable joint

Claim 2

A controllable joint (10) comprising first (12) and second (40) members having first (A) and second (C) axes respectively, said first member supporting at least three pins (18) inclined relative to said first axis, at least three coupling members (30), each of said coupling members being movable along an associated pin, said coupling members defining the homokinetic plane bisecting the angle between said first and second axes, said second member (40) defining at least three grooves (44) inclined relative to said second axis, each of said coupling members (30) being received in an associated groove (44), and means (16) for selectively controlling movement of each of said coupling members (30) to thereby effect controlled movement of said second member and thus determine the position of said second member relative to said first member.

Claim 3

The controllable joint of claim 1, said first member supporting at least three control assemblies (16), each of said control assemblies including an associated pin (18), said control assemblies being said means for selectively controlling movement of each of said coupling members.

Claim 4

The controllable joint of claim 1 or 2, said first member (12) including a drum (14) supporting said pins (18), said pins supporting said coupling members (30), and said second member (40) including a flange (42) defining said grooves (44).

Claim 5

The controllable joint of claim 2, each of said pins having a third axis (B), said third axes converging on said first axis (A).

Claim 6

The controllable joint of claim 2, each of said grooves (44) having a fourth axis (D), said fourth axis :onverging on said second axis (C).

Claim 7

The controllable joint of claim 4, each of said grooves (44) having a fourth axis (D), said fourth axis converging on said second axis (C).

Claim 8

The controllable joint of claim 6, the angles Between said first (A) and third (B) axes being equal to the angles between said second and fourth axis (D).

Claim 9

The controllable joint of claim 6, each of said coupling members (30) being a ball slidable along an associated third axis (B), said ball having a substantially spherical surface, and each of said grooves (44) having a surface substantially cylindrical about an associated fourth axis (D).

Claim 10

The controllable joint of claim 8, each of said control assemblies including a lead screw mechanism (16) for sliding an associated ball (30).

Claim 11

The controllable joint of claim 9, each of said control assemblies including a motor (34) for driving an associated lead screw mechanism (16).

Claim 12

The controllable joint of claim 10, each of said motors being a stepper motor (34).

Claim 13

The controllable joint of claim 8, each of said control assemblies including a shaft (22a) slidable along an associated third axis (B) for sliding an associated ball (30).

Claim 14

The controllable joint of claim 12, each of said control assemblies including a motor (34a) for sliding an associated shaft.

Claim 15

The controllable joint of claim 13, each of said motors being a double-acting cylinder (34a).

Claim 16

The controllable joint of claim 1, 2, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13 or 14, further comprising means (48) for restraining axial movement of said second member along said second axis (C).

Claim 17

A controllable joint comprising: a first member (12), including a drum portion (14) and a shaft portion (13) extending from the drum portion along a first axis (A), three pins (18) supported by and extending from the drum portion, each of said pins extending at the same angle with respect to said first axis, and three ball units (30), one of which is positioned on each of said pins for movement toward and away from said first axis; a second member (40), having a flange portion (42) and a shaft. (41) portion extending from the flange portion along a second axis (C), said flange portion defining three grooves (44), each groove having an axis (D) which converges inwardly and intersects the other groove axes at a point on said second axis (C), each ball unit (30,32) of the first member being received in one groove (44) of the second member, which ball units define the homokinetic plane bisecting the angle defined by said first (A) and second (C) axes; and means (16), associated with said first member, for effecting selective, individual movement of at least three of said ball units (30,32), and thus effecting a controlled reaction movement of said second member (40) to regulate the angular position of said second member shaft portion (41) relative to said first member shaft portion (13).

Claim 18

A controllable joint comprising: a first member (12), including a drum portion (14) and a shaft portion (13) extending from the drum portion along a first axis (A), three pins (18) supported by and extending from the drum portion, each of said pins extending at the same angle with respect to said first axis, and three ball units (30), one of which is positioned on each of said pins for movement toward and away from said first axis; a second member (40), having a flange portion (42) and a shaft. (41) portion extending from the flange portion along a second axis (C), said flange portion defining three grooves (44), each groove having an axis (D) which converges inwardly and intersects the other groove axes at a point on said second axis (C), each ball unit (30,32) of the first member being received in one groove (44) of the second member, which ball units define the homokinetic plane bisecting the angle defined by said first (A) and second (C) axes; and means (16), associated with said first member, for effecting selective, individual movement of at least three of said ball units (30,32), and thus effecting a controlled reaction movement of said second member (40) to regulate the angular position of said second member shaft portion (41) relative to said first member shaft portion (13).

Claim 19

A controllable joint as defined in claim 16, in which at least three of the combinations of pin-and- ball units in said first member are constructed as a lead screw mechanism (16), such that rotation of a given mechanism effects a related displacement of its associated ball unit along its associated pin.

Claim 20

A controllable joint as claimed in claim 17, and further comprising at least three drive motors (34), respectively coupled to the individual mechanisms, so that each drive motor when energized rotates its associated mechanism to displace the ball unit positioned on its associated pin.

Claim 21

A controllable joint comprising first (12) and second (40) members having first (A) and second (C) axes respectively, said first member supporting at least three coupling members (30), each of said coupling members being movable relative to said first axis (A), each of said coupling members being received by said second member (40) such that their movement relative to said first axis (A) also causes them to move relative to said second axis, whereby said coupling members define the homokinetic plane bisecting the angle between said first (A) and second (C) axes, and means (16) for selectively controlling movement of each of said coupling members to thereby determine the position of said second member relative to said first member.

Claim 22

A controllable joint comprising first (12) and second (40) members having first (A) and second (C) axes respectively, said first member supporting at least three coupling members (30), each of said coupling members being movable relative to said first axis (A), each of said coupling members being received by said second member (40) such that their movement relative to said first axis (A) also causes them to move relative to said second axis, whereby said coupling members define the homokinetic plane bisecting the angle between said first (A) and second (C) axes, and means (16) for selectively controlling movement of each of said coupling members to thereby determine the position of said second member relative to said first member.

Claim 23

A controllable joint comprising first (12) and second (40) members having first (A) and second (C) axes respectively, said first member supporting at least three coupling members (30) for movement relative to said first axis (A), said coupling members being received by said second member (40) such that their movement relative to said first axis (A) causes movement of said second member (40) relative to said first axis (A), whereby said coupling members define the homokinetic plane bisecting the angle between said first (A) and second (C) axes, and means for selectively (16) controlling movement of said coupling members to thereby determine the position of said second member relative to said first member.

Claim 24

A controllable joint comprising first (12) and second (40) members having first (A) and second (C) axes respectively, said first member supporting at least three coupling members (30) for movement relative to said first axis (A), said coupling members being received by said second member (40) such that their movement relative to said first axis (A) causes movement of said second member (40) relative to said first axis (A), whereby said coupling members define the homokinetic plane bisecting the angle between said first (A) and second (C) axes, and means for selectively (16) controlling movement of said coupling members to thereby determine the position of said second member relative to said first member.

Claim 25

The controllable joint of claim 20, said movement controlling means (16) selectively controlling movement of said coupling members to thereby determine the angular position of said second (40) member relative to said first (12) member.

Claim 26

The controllable joint of claim 20, said movement controlling means (16) selectively controlling movement of said coupling members to thereby determine the axial position of said second member relative to said first member.

Claim 27

The controllable joint of claim 21, said movement controlling means (16) selectively controlling movement of said coupling members to thereby determine the axial position of said second member relative to said first member.