US3664517A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Articulated master-slave manipulator
Assignee: Commissariat à l'Énergie Atomique et Aux Énergies Alternatives
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Filing: 1970-09-28
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Granted: 1972-05-23
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Expires: 1990-09-28
Abstract
Abstract An articulated master-slave manipulator comprises a master assembly and a slave assembly articulated to opposite ends of a tube extending through a wall. The slave assembly comprises a first segment and a second segment which are disposed in that order from the tube which extends through the wall, whereas the master assembly comprises, from its articulation to the tube, a top second half-segment which drives the slave-assembly second segment, a first segment which drives the slave assembly first-segment, and a bottom second half-segment, parallel to the top second half-segments.
Inventors
- 👤 Jean-Claude Germond
- 👤 Jean-Pierre Guilbaud
- 👤 Jean Vertut
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-24 13:27
CPC Classifications
B; B25; B25J; B25J19/00; B25J19/0008; B25J19/002; B25J3/00
Claims Analysis
Total Claims: 10
Claim 1
Independent Claim
99 words
An articulated master-slave manipulator comprising a master assembly and a slave assembly articulated to opposite ends of a tube extending through a wall, each assembly including first and second segments connected in series, one of said segments of one of said assemblies being drivingly coupled to one of said segments of the other of said assemblies, and said first and second segments of one of said assemblies having corresponding movements with said first and second segments respectively of the other of said assemblies being disposed in reverse order with respect to said segments of the other of said assemblies.
Claim 2
Dependent Claim
99 words
An articulated master-slave manipulator comprising a master assembly and a slave assembly articulated to opposite ends of a tube extending through a wall, each assembly including first and second segments connected in series, one of said segments of one of said assemblies being drivingly coupled to one of said segments of the other of said assemblies, and said first and second segments of one of said assemblies having corresponding movements with said first and second segments respectively of the other of said assemblies being disposed in reverse order with respect to said segments of the other of said assemblies.
Claim 3
Dependent Claim
158 words
An articulated master-slave manipulator having a wall transversing tube, a master assembly articulated to one end of said tube, a slave assembly articulated to the other end of said tube, said slave assembly having a first segment articulated on said tube and a second segment connected to said first segment so as to pivot on said first segment, said master assembly having an upper portion of a second segment articulated on said tube, a first segment pivotally connected on said second segment portion and a lower portion of said second segment pivotally connected to said first segment, means for drivably connecting said second segment of said slave assembly to said upper portion of said second segment of said master assembly and for connecting said first segment of said slave assembly to said first segment of said master assembly, and means for maintaining said two portions of said second segment of said master assembly in a predetermined angular position.
Claim 4
Dependent Claim
158 words
An articulated master-slave manipulator having a wall transversing tube, a master assembly articulated to one end of said tube, a slave assembly articulated to the other end of said tube, said slave assembly having a first segment articulated on said tube and a second segment connected to said first segment so as to pivot on said first segment, said master assembly having an upper portion of a second segment articulated on said tube, a first segment pivotally connected on said second segment portion and a lower portion of said second segment pivotally connected to said first segment, means for drivably connecting said second segment of said slave assembly to said upper portion of said second segment of said master assembly and for connecting said first segment of said slave assembly to said first segment of said master assembly, and means for maintaining said two portions of said second segment of said master assembly in a predetermined angular position.
Claim 5
Dependent Claim
17 words
A manipulator according to claim 2 including means for maintaining said lower and upper second segments parallel.
Claim 6
Dependent Claim
94 words
A manipulator according to claim 2, including means for controlling the movement of said second slave segment having an endless flexible member running over a pulley secured to said second slave segment to rotate the same around its articulation to said first segment, said flexible member also going over a pulley disposed on said first segment at the articulation thereof to said tube, said flexible member also going over a pulley disposed on said master upper second segment, said last-mentioned pulley being rotated by said last-mentioned second segment around its articulation to said tube.
Claim 7
Dependent Claim
86 words
A manipulator according to claim 4, including means for controlling the movements of said first slave segment having an endless flexible member which goes over a pulley secured to said first slave segment to rotate the same around its articulation to said tube; a pulley disposed on said master upper second segment at the articulation thereof to said tube; and a pulley disposed on said master first segment, said latter pulley being rotated by said last-mentioned first segment around its articulation to said upper second segment.
Claim 8
Dependent Claim
60 words
A manipulator according to claim 2, including means for in-depth movement of said slave assembly including a set of pulleys movable in a direction transversely of the axis of said tube to vary the length of each run of at least one of said flexible members by equal and opposite amounts for the two runs of any single flexible member.
Claim 9
Dependent Claim
26 words
A manipulator according to claim 2, including separate balancing means for each of said assemblies disposed at the end of said tube on said master-assembly side.
Claim 10
Dependent Claim
27 words
A manipulator according to claim 7, including a slave assembly balancing means having a counterweight maintained in a position homothetic of the position of said slave assembly.
References Cited (Backward Citations)
US3314552A
Cited
US3391801A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1975-05-23 | 1975-11-22 | 1976-05-23 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1979-05-23 | 1979-11-22 | 1980-05-23 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1983-05-23 | 1983-11-22 | 1984-05-23 | $7700.00 | Window Closed / Lapsed |