Patent FR2443342A1 successfully refreshed from Google Patents.
US3904042A
Expired / Lapsed
US
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Manipulator apparatus
Assignee: Westinghouse Electric Corp
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Filing: 1974-02-25
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Granted: 1975-09-09
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Expires: 1994-02-25
Abstract
Abstract Manipulator apparatus having an arm with a particular arrangement of relatively-movable parts interconnected by poweroperated pivot and rotary joints which afford capability for the arm to assume grossly-different configurations while effecting work functions via its one end, and a hand-operated controller for such arm, having a similar arrangement of parts and joints, but being biased and constrained to be stiff-jointed and have only one configuration, grossly. Torque sensors at the controller joints are arranged to control operation of actuators at the corresponding arm joints, respectively.
Inventors
- 👤 John R Colston
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 11:39
CPC Classifications
B; B25; B25J; B25J13/00; B25J13/08; B25J13/085; B25J3/00; B25J3/04; B25J9/00; B25J9/10; B25J9/14; B25J9/146; B25J9/148
Claims Analysis
Total Claims: 7
Claim 1
Independent Claim
115 words
Manipulator apparatus comprising, a configuration-adjustable work arm having parts interconnected by joints permitting gross relative movment while maintaining the same relative movement relationships in all relative arm part positions, respective power actuators for such arm joints, a hand-operated single-configuration controller having parts corresponding to and arranged similar to the aforesaid work arm parts, with limited-movement joints biased toward neutral positions and interconnecting such parts to permit limited angular movement from such neutral positions in the same directions as those of the corresponding joints in said work arm, and control means including means responsive to the limited angular movement of the controller joints to effect operation of the aforesaid power actuators in the arm joints, respectively.
Claim 2
Dependent Claim
115 words
Manipulator apparatus comprising, a configuration-adjustable work arm having parts interconnected by joints permitting gross relative movment while maintaining the same relative movement relationships in all relative arm part positions, respective power actuators for such arm joints, a hand-operated single-configuration controller having parts corresponding to and arranged similar to the aforesaid work arm parts, with limited-movement joints biased toward neutral positions and interconnecting such parts to permit limited angular movement from such neutral positions in the same directions as those of the corresponding joints in said work arm, and control means including means responsive to the limited angular movement of the controller joints to effect operation of the aforesaid power actuators in the arm joints, respectively.
Claim 3
Dependent Claim
37 words
The manipulator apparatus of claim 1, wherein, the limited-movement neutral-position-biased joints of said controller are in form of leaf springs, and the joint-movement-responsive means coupled with said leaf springs constitute torque responsive means at the controller joints.
Claim 4
Dependent Claim
122 words
The manipulator apparatus of claim 1, wherein said apparatus comprises a mounting member, and said work arm parts include an upper arm portion, a lower arm portion, and a hand portion, and the joints of said work arm include a pair of shoulder joints connecting an end of said upper arm to said mounting member and affording rotary and pivotal movement of said end about normally vertical and horizontal axes, respectively, an elbow pivot joint between the other end of said upper arm and one end of said lower arm for pivotal movement about a normally horizontal axis, and a wrist pivot joint between the other end of said lower arm and said hand section for pivotal movement about a normally-horizontal axis.
Claim 5
Dependent Claim
19 words
The manipulator apparatus of claim 3, wherein said work arm includes a hand rotate joint for said hand portion.
Claim 6
Dependent Claim
32 words
The manipulator apparatus of claim 1, wherein said power actuators for the arm joints are hydraulically operated, and said control means includes electro-hydraulic servo valve means for controlling operation of such actuators.
Claim 7
Dependent Claim
21 words
The manipulator apparatus of claim 5, wherein said servo valve means is feedback responsive to hydraulic pressure delivered to said actuators.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1978-09-08 | 1979-03-10 | 1979-09-09 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1982-09-08 | 1983-03-10 | 1983-09-09 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1986-09-08 | 1987-03-10 | 1987-09-09 | $7700.00 | Window Closed / Lapsed |