US5129279A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Flexible robotic limb
Assignee: Individual
•
Filing: 1991-02-28
•
Granted: 1992-07-14
•
Expires: 2011-02-28
Abstract
Abstract This invention is a flexible limb capable of changing length, bending in any direction, twisting, and changing cross-sectional size. Its skeletal structural design promotes optimal simplicity of control, ease of construction, lightness, and stiffness.
Inventors
- 👤 Brian G. Rennex
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-24 04:41
CPC Classifications
B; B25; B25J; B25J17/00; B25J17/02; B25J17/0258; B25J17/0266; B25J17/0208; B25J17/0216; B25J18/00; B25J18/02; B25J18/04; B25J9/00; B25J9/003; B25J9/0063; B25J9/0069; Y; Y10; Y10T; Y10T74/00; Y10T74/19; Y10T74/19642; Y10T74/19698; Y10T74/19702; Y10T74/19707; Y10T74/20; Y10T74/20207; Y10T74/20305; Y10T74/20329; Y10T74/21; Y10T74/2142; Y10T74/2151
Claims Analysis
Total Claims: 10
Claim 1
Independent Claim
142 words
A flexible limb mechanism comprising a plurality of articulation units, serially connected, including a top articulation unit and a bottom articulation unit wherein: each of said articulation units comprises a base section, a fore section, and a lengthwise interconnect section, wherein the fore section of one of said articulation units comprises the base section of the succeeding articulation unit, and wherein said base section and said fore section are rotatable relative to each other, said base section comprising three base joint vertices interconnected by three base interconnect elements, said fore section comprising three fore joint vertices interconnected by three fore interconnect elements, said lengthwise interconnect section comprising six lengthwise actuators wherein each of said base joint vertices is coupled to two of said lengthwise actuators and each of said two actuators is coupled to a different one of said fore joint vertices.
Claim 2
Dependent Claim
142 words
A flexible limb mechanism comprising a plurality of articulation units, serially connected, including a top articulation unit and a bottom articulation unit wherein: each of said articulation units comprises a base section, a fore section, and a lengthwise interconnect section, wherein the fore section of one of said articulation units comprises the base section of the succeeding articulation unit, and wherein said base section and said fore section are rotatable relative to each other, said base section comprising three base joint vertices interconnected by three base interconnect elements, said fore section comprising three fore joint vertices interconnected by three fore interconnect elements, said lengthwise interconnect section comprising six lengthwise actuators wherein each of said base joint vertices is coupled to two of said lengthwise actuators and each of said two actuators is coupled to a different one of said fore joint vertices.
Claim 3
Dependent Claim
59 words
The flexible limb mechanism of claim 1 wherein each of said base joint vertices comprises a joint plate and four universal joints, except that each of said base joint vertices of said bottom articulation unit comprises a joint plate and two universal joints, wherein each of said lengthwise actuators is coupled to a corresponding one of said universal joints.
Claim 4
Dependent Claim
59 words
The flexible limb mechanism of claim 1 wherein each of said fore joint vertices comprises a joint plate and four universal joints, except that each of said fore joint vertices of said top articulation unit comprises a joint plate and two universal joints, wherein each of said lengthwise actuators is coupled to a corresponding one of said universal joints.
Claim 5
Dependent Claim
40 words
The flexible limb mechanism of claim 1 wherein each of said base interconnect elements is a base actuator and each of said base joint vertices further comprises two pivots, each of which is coupled to one of said base actuators.
Claim 6
Dependent Claim
44 words
The flexible limb mechanism of claims 1, 2 or 3 wherein each of said fore interconnect elements is in a fore actuator and each of said fore joint vertices further comprises two pivots, each of which is coupled to one of said fore actuators.
Claim 7
Dependent Claim
167 words
The flexible limb mechanism of claims 1 or 4, wherein each of said lengthwise actuators each of said base actuators and each of said fore actuators comprises: an upper female threaded rod; a lower female reverse threaded rod; a male double threaded rod, one end of which is threaded into said upper female threaded rod and the other end of which is threaded into said lower female reverse threaded rod, wherein said one end of said male double threaded rod is normally threaded and said other end of said male double threaded rod is reverse threaded; an end plate rigidly attached to the top of said male double threaded rod; and an actuator motor fixedly attached to said one end of said upper female threaded rod and having a rotatable shaft, wherein said shaft is fixedly attached to said end plate, whereby rotation of said shaft by said actuator motor moves said upper female threaded rod and said lower female threaded rod closer together or farther apart.
Claim 8
Dependent Claim
15 words
The flexible limb mechanism of claim 1, further comprising an outer skin covering said mechanism.
Claim 9
Dependent Claim
19 words
The flexible limb mechanism of claims 2 or 3, wherein each of said universal joints is a double-pivot joint.
Claim 10
Dependent Claim
122 words
The flexible limb mechanism of claims 1 or 4, wherein at least one of said lengthwise actuators, each of said fore actuators and each of said base actuators comprises: an upper female threaded rod; a lower female reverse threaded rod; a male double threaded rod, one end of which is threaded into said upper female threaded rod and the other end of which is threaded into said lower female reverse threaded rod, wherein one end of said male double threaded rod is normally threaded and said other end of said male double threaded rod is reverse threaded; an end plate rigidly attached to the top of said male double threaded rod; and means for rotating said end plate either clockwise or counterclockwise.
References Cited (Backward Citations)
US1329645A
Cited
US1788766A
Cited
US3266059A
Cited
US3269199A
Cited
US3520496A
Cited
US3497083A
Cited
US3580099A
Cited
US3712481A
Cited
SU558788A1
Cited
US4494417A
Cited
GB2083795A
Cited
US4369814A
Cited
US4568311A
Cited
US4697472A
Cited
US4621965A
Cited
US4651589A
Cited
US4607578A
Cited
US4712969A
Cited
SU1194672A1
Cited
JPS60220255A
Cited
SU1222538A1
Cited
SU1296401A1
Cited
DE3612961A1
Cited
US4907937A
Cited
US4976582A
Cited
US4685349A
Cited
US4872363A
Cited
US4766775A
Cited
US4806068A
Cited
US4863206A
Cited
US4874998A
Cited
US4805477A
Cited
US4848179A
Cited
FR2649530A1
Cited
US5028180A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1995-07-14 | 1996-01-13 | 1996-07-14 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1999-07-14 | 2000-01-13 | 2000-07-14 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2003-07-14 | 2004-01-13 | 2004-07-14 | $7700.00 | Window Closed / Lapsed |