Six degrees of freedom micromanipulator

Claim 1

A micromanipulator assembly for use with a robot arm which moves a robot finger element with large scale motions, said robot finger element being moved with a small scale motions, said micromanipulator assembly being fixed between said robot arm and said robot finger element to move said robot finger elements with intermediate scale motions, said micromanipulator assembly comprising: a planar base plate; a means for attaching said planar base plate to said robot arm; a plurality of base plate yokes which are fixed to and evenly distributed about the circumference of said planar base plate; a plurality of drive rods, each of which are retractably fixed to one of said base plate yokes so that they may individually be extended and retracted with respect to said planar base plate; a plurality of drive rod trunnions which are each pivotally connected to one of the base plate yokes about said planar base plate, each of said drive trunnions having a central aperture through which one of said drive rods extends; each of said drive rod trunnions also having a narrow slot which is perforated by said central aperture; a plurality of manually rotated drive nuts, each of which are threaded and disposed to advance along one of said drive rods, each of said manually rotated rive nuts having a narrow waist, and a raised lower annular flange which fits in the narrow slot and one of said plurality of drive rod trunnions so that each of the manually rotated drive nuts are fixed to one of the drive rod trunnions, and will extend and retract its respective drive rod as it is rotated; a manipulator plate which is fixed to said robot finger and said drive rods so that the robot finger may be positioned with multiple degrees of freedom as the manipulator plate is tipped and tilted into a desirable position by retracting and extending the drive rods; a plurality of manipulator plate support yokes, each of which are attached to a side of said manipulator plate; a plurality of coupling yoke trunnions each of which are pivotally attached to one of the manipulator plate yokes; and a plurality of rod ends, each of which are attached to one of the coupling yoke trunnions and two of said drive rods, said rod ends each allowing said manipulator plate to be tipped and tilted as its respective drive rods are retracted and elongated.