US4878393A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Dextrous spherical robot wrist
Assignee: Individual
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Filing: 1988-05-27
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Granted: 1989-11-07
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Expires: 2008-05-27
Abstract
Abstract This invention comprises a general redundant spherical linkage capable of producing singularity free relative motion of two arms which intersect at a fixed point. All points of all links of the invention move on spheres that are concentric about this fixed point of intersection of the two arms. In a general way the invention can be considered as a sphere which is divided by a central link that supports two pairs of orthogonally intersecting axes of rotation for four semicircular links that are 180° arcs of great circles. The point of intersection of a pair of orthogonally pivoted semicircular links, directs an arm passing through the center of the sphere. Each pair of orthogonally pivoted links controls the spherical motion of one arm within one hemisphere. By simultaneously controlling all four pivoted links, arbitrary relative motion of the two arms can be achieved.
Inventors
- 👤 Oprea Duta
- 👤 Michael M. Stanisic
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 14:20
CPC Classifications
B; B25; B25J; B25J17/00; B25J17/02; B25J17/0283; B25J17/0258; B25J17/0275; Y; Y10; Y10T; Y10T74/00; Y10T74/20; Y10T74/20207; Y10T74/20305; Y10T74/20329; Y10T74/20335
Claims Analysis
Total Claims: 23
Claim 1
Independent Claim
152 words
A mechanical wrist connectable between a first and second arm comprising: a central link providing at least a first pair of opposed pivot points lying on a first pivot means; a first semicircular link pivotally connected to said central link at said first pair of pivot points for pivoting movement in a first hemisphere about said first pivot axis; a second semicircular link pivotally connected to said central link at a second pair of pivot points lying on a second pivot axis for pivoting movement in a second hemisphere, said first pivot axis substantially intersecting said second pivot axis at a point fixed relative to the wrist; a first block mounted for sliding movement along said first semicircular link; means for connecting said first arm to said first block; a second block mounted for sliding movement along said second semicircular link; and means for connecting said second arm to said second block.
Claim 2
Dependent Claim
152 words
A mechanical wrist connectable between a first and second arm comprising: a central link providing at least a first pair of opposed pivot points lying on a first pivot means; a first semicircular link pivotally connected to said central link at said first pair of pivot points for pivoting movement in a first hemisphere about said first pivot axis; a second semicircular link pivotally connected to said central link at a second pair of pivot points lying on a second pivot axis for pivoting movement in a second hemisphere, said first pivot axis substantially intersecting said second pivot axis at a point fixed relative to the wrist; a first block mounted for sliding movement along said first semicircular link; means for connecting said first arm to said first block; a second block mounted for sliding movement along said second semicircular link; and means for connecting said second arm to said second block.
Claim 3
Dependent Claim
31 words
A mechanical wrist as claimed in claim 1, wherein said second pivot axis of said second semicircular link being substantially coincident with said first pivot axis of said first semicircular link.
Claim 4
Dependent Claim
39 words
A mechanical wrist as claimed in claim 1, wherein said second pivot axis of said second semicircular link is pivotally connected to said central link offset from said first pivot axis of said first link by a first angle.
Claim 5
Dependent Claim
17 words
A mechanical wrist as claimed in claim 3, wherein said first angle is substantially equal to 90°.
Claim 6
Dependent Claim
82 words
A mechanical wrist as claimed in claim 1, further comprising: a third semicircular link pivotally connected to said central link at a third pair of pivot points for pivoting movement in said first hemisphere, said third pair of pivot points lying on an axis substantially at 90° to an axis passing through said first pair of pivot points; a third block mounted for sliding movement along said third semicircular link; and means for rotationally connecting said third block to said first block.
Claim 7
Dependent Claim
82 words
A mechanical wrist as claimed in claim 5, further comprising: a fourth semicircular link pivotally connected to said central link at a fourth pair of pivot points for pivoting movement in said second hemisphere, said fourth pair of pivot points lying on an axis substantially at 90° to an axis passing through said second pair of pivot points; a fourth block mounted for sliding movement along said fourth semicircular link; and means for rotationally connecting said fourth block to said second block.
Claim 8
Dependent Claim
33 words
A mechanical wrist as claimed in claim 6, wherein said first and second pair of pivot points are substantially coincident, and wherein said third and fourth pair of pivot points are substantially coincident.
Claim 9
Dependent Claim
54 words
A mechanical wrist as claimed in claim 6, wherein said first pair of pivot points is offset from said second pair of pivot points by a first angle, and wherein said third pair of pivot points is offset from said fourth pair of pivot points by an angle substantially equal to said first angle.
Claim 10
Dependent Claim
16 words
A mechanical wrist as claimed in claim 1, wherein said central link is an annular member.
Claim 11
Dependent Claim
16 words
A mechanical wrist as claimed in claim 1, wherein said central link is a cross-shaped member.
Claim 12
Dependent Claim
31 words
A mechanical wrist as claimed in claim 1, further comprising: means for actuating pivoting movement of said first semicircular link in said first hemisphere about said first pair of pivot points.
Claim 13
Dependent Claim
24 words
A mechanical wrist as claimed in claim 1, further comprising: means for actuating sliding movement of said first block along said first semicircular link.
Claim 14
Dependent Claim
30 words
A mechanical wrist as claimed in claim 2, further comprising: means for interconnecting said first and second blocks for coordinated sliding movement along said respective first and second semicircular links.
Claim 15
Dependent Claim
30 words
A mechanical wrist as claimed in claim 13, wherein said means for interconnecting said first and second blocks is a system of cables connected between said first and second blocks.
Claim 16
Dependent Claim
29 words
A mechanical wrist as claimed in claim 6, further comprising: four actuating motors connected to rotationally drive each of said first and second and third and fourth semicircular links.
Claim 17
Dependent Claim
53 words
A mechanical wrist as claimed in claim 6, further comprising: first and second actuating motors connected to rotationally drive said semicircular links, said first actuating motor being connected to simultaneously drive said first and third semicircular links and said second actuating motor being connected to simultaneously drive said second and fourth semicircular links.
Claim 18
Dependent Claim
24 words
A mechanical wrist as claimed in claim 11, further comprising: means for actuating sliding movement of said first block along said first semicircular link.
Claim 19
Dependent Claim
39 words
A mechanical wrist as claimed in claim 5, further comprising: means for actuating sliding movement of said first block along said first semicircular link; and means for actuating sliding movement of said third block along said third semicircular link.
Claim 20
Dependent Claim
145 words
A mechanical wrist connectable between a first and second arm, comprising: a central link providing at least a first pair of opposed pivot points lying on a first pivot means; a first semicircular link pivotally connected to said central link of said first pair of pivot points for pivoting movement in a first hemisphere about said first pivot axis; a second link pivotally connected to said central link at a second pair of pivot points lying on a second pivot axis for pivoting movement in a second hemisphere, said first pivot axis intersecting said second pivot axis substantially at a center within the wrist; a first block mounted for sliding movement along said first semicircular link; means for connecting said first arm to said first block; a second block supported on said second link; and means for connecting said second arm to said second block.
Claim 21
Dependent Claim
145 words
A mechanical wrist connectable between a first and second arm, comprising: a central link providing at least a first pair of opposed pivot points lying on a first pivot means; a first semicircular link pivotally connected to said central link of said first pair of pivot points for pivoting movement in a first hemisphere about said first pivot axis; a second link pivotally connected to said central link at a second pair of pivot points lying on a second pivot axis for pivoting movement in a second hemisphere, said first pivot axis intersecting said second pivot axis substantially at a center within the wrist; a first block mounted for sliding movement along said first semicircular link; means for connecting said first arm to said first block; a second block supported on said second link; and means for connecting said second arm to said second block.
Claim 22
Dependent Claim
141 words
A mechanical wrist connectable between a first and second arm, comprising: a central link providing at least a first pair of opposed pivot points lying on a first pivot means; a first semicircular link pivotally connected to said central link of said first pair of pivot points for pivoting movement in a first hemisphere about said first pivot axis; a second link pivotally connected to said central link at a second pair of pivot points lying on a second pivot axis for pivoting movement in a second hemisphere, said first pivot axis being substantially coincident with said second pivot axis; a first block mounted for sliding movement along said first semicircular link; means for connecting said first arm to said first block; a second block supported on said second link; and means for connecting said second arm to said second block.
Claim 23
Dependent Claim
141 words
A mechanical wrist connectable between a first and second arm, comprising: a central link providing at least a first pair of opposed pivot points lying on a first pivot means; a first semicircular link pivotally connected to said central link of said first pair of pivot points for pivoting movement in a first hemisphere about said first pivot axis; a second link pivotally connected to said central link at a second pair of pivot points lying on a second pivot axis for pivoting movement in a second hemisphere, said first pivot axis being substantially coincident with said second pivot axis; a first block mounted for sliding movement along said first semicircular link; means for connecting said first arm to said first block; a second block supported on said second link; and means for connecting said second arm to said second block.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1992-11-06 | 1993-05-08 | 1993-11-07 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1996-11-06 | 1997-05-08 | 1997-11-07 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2000-11-06 | 2001-05-08 | 2001-11-07 | $7700.00 | Window Closed / Lapsed |