Patent US5847528A successfully refreshed from Google Patents.
US5847528A
Expired / Lapsed
US
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Mechanism for control of position and orientation in three dimensions
Assignee: Canadian Space Agency
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Filing: 1995-05-19
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Granted: 1998-12-08
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Expires: 2015-05-19
Abstract
Abstract The subject invention provides a parallel or closed loop mechanism for moving and positioning a member in space. The mechanism includes three branches each provided with at least two link members being serially connected together by a spherical elbow joint whereby the first and second link members are rotatable with respect to each other about any axis passing through a center of the first joint. The mechanism is provided with actuators for moving each branch and the first links of each branch are rigidly connected at an end portion thereof to the actuator means. The mechanism includes three revolute joints each defining a longitudinal axis of rotation. Each revolute joint is connected to an associated second link member so that the longitudinal axes of all third joints intersect at a point and the revolute joints are interconnected so that the three branches form three parallel or closed loops.
Inventors
- 👤 Raymond Chung-Ying Hui
- 👤 Vincent Hayward
- 👤 Alain Gerard Ouellet
- 👤 Walter Peruzzini
- 👤 Pedro Gregorio
- 👤 Andrew Wang
- 👤 George Vukovich
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-30 12:41
CPC Classifications
B; B25; B25J; B25J17/00; B25J17/02; B25J17/0258; B25J17/0266; B25J9/00; B25J9/10; B25J9/106; Y; Y10; Y10T; Y10T74/00; Y10T74/20; Y10T74/20207
Claims Analysis
Total Claims: 25
Claim 1
Independent Claim
127 words
A three degree of freedom mechanism for moving and positioning a member in space, comprising: a) at least three branches each provided with at least first and second link members, each of said first and second link members of each of said at least three branches being serially connected together by a spherical joint means, each spherical joint means having a center; and b) at least three revolute joints each defining an axis of rotation, said at least three revolute joints being connected to associated second link members so that said axes of rotation of said at least three revolute joints intersect at a point of intersection and said revolute joints being interconnected so that said at least three branches define at least three parallel closed loops.
Claim 2
Dependent Claim
127 words
A three degree of freedom mechanism for moving and positioning a member in space, comprising: a) at least three branches each provided with at least first and second link members, each of said first and second link members of each of said at least three branches being serially connected together by a spherical joint means, each spherical joint means having a center; and b) at least three revolute joints each defining an axis of rotation, said at least three revolute joints being connected to associated second link members so that said axes of rotation of said at least three revolute joints intersect at a point of intersection and said revolute joints being interconnected so that said at least three branches define at least three parallel closed loops.
Claim 3
Dependent Claim
29 words
The mechanism according to claim 1 wherein the distance from said point of intersection to each spherical joint means remains constant during movement of said at least three branches.
Claim 4
Dependent Claim
22 words
The mechanism according to claim 2 wherein said distance from said point of intersection to each spherical joint means is substantially equal.
Claim 5
Dependent Claim
16 words
The mechanism according to claim 3 wherein said spherical joint means define a plane of symmetry.
Claim 6
Dependent Claim
21 words
The mechanism according to claim 1 including sensor means for measuring the position of each of said at least three branches.
Claim 7
Dependent Claim
16 words
The mechanism according to claim 5 including manually engageable means connected to said point of intersection.
Claim 8
Dependent Claim
24 words
The mechanism according to claim 1 including stationary actuator means mounted on a base and operably connected for moving said at least three branches.
Claim 9
Dependent Claim
47 words
The mechanism according to claim 7 wherein said actuator means includes a separate actuator for each of said at least three branches, said first link member of each of said at least three branches being connected at an end portion thereof to one of said separate actuators.
Claim 10
Dependent Claim
30 words
The mechanism according to claim 8 wherein each of said spherical joint means serially connecting said first link member to said second link member is a ball and socket joint.
Claim 11
Dependent Claim
36 words
The mechanism according to claim 8 wherein each of said spherical joint means serially connecting said first link member to said second link member comprises three revolute joints connected in series with intersecting but non-parallel axes.
Claim 12
Dependent Claim
76 words
The mechanism according to claim 8 wherein each of said separate actuators is a rotary actuator and each of said first and second link members are substantially equal in length, each of said at least three joints being a revolute joint having a third link member extending along said axis of rotation and wherein said third link members are arranged in a mirror image of said connections of said first link members to said rotary actuators.
Claim 13
Dependent Claim
92 words
The mechanism according to claim 1 wherein said at least three joints is an even number of revolute joints equal to twice the number of branches with each second link member having an end portion thereof attached to a first number of said revolute joints, and a second number of said revolute joints being located in alternating relationship substantially between said first number of revolute joints and attached thereto by third link members, each revolute joint having an axis of rotation and said axes of rotation intersecting at said point of intersection.
Claim 14
Dependent Claim
21 words
The mechanism according to claim 12 including sensor means for measuring the position of each of said at least three branches.
Claim 15
Dependent Claim
20 words
The mechanism according to claim 13 including actuator means operably connected for moving each of said at least three branches.
Claim 16
Dependent Claim
29 words
The mechanism according to claim 13 wherein each said spherical joint means serially connecting said first link member to said second link member is a ball and socket joint.
Claim 17
Dependent Claim
36 words
The mechanism according to claim 13 wherein each of said spherical joint means serially connecting said first link member to said second link member comprises three revolute joints connected in series with intersecting but non-parallel axes.
Claim 18
Dependent Claim
17 words
The mechanism according to claim 12 including manually engageable means connected to one of said revolute joints.
Claim 19
Dependent Claim
237 words
A three degree of freedom mechanism for moving and positioning a member in space, comprising: a) at least three branches each provided with at least first and second link members being serially connected together by a spherical joint; b) at least three revolute joints each defining an axis of rotation, said at least three revolute joints being connected to associated second link members so that said axes of rotation of said at least three revolute joints intersect at a point of intersection, wherein the distance from said point of intersection to each spherical joint remains constant during movement of said at least three branches, said revolute joints being interconnected so that said at least three branches define at least three parallel closed loops; c) said at least three joints being an even number of revolute joints equal to twice the number of branches with each second link member having an end portion thereof attached to a first number of said at least three revolute joints, and a second number of said revolute joints being located in alternating relationship substantially between said first number of revolute joints and attached thereto by third link members, each of said second number of revolute joints having an axis of rotation and said axes of rotation intersecting at said point of intersection; and d) actuator means secured on a base and operably connected for moving each of said at least three branches.
Claim 20
Dependent Claim
237 words
A three degree of freedom mechanism for moving and positioning a member in space, comprising: a) at least three branches each provided with at least first and second link members being serially connected together by a spherical joint; b) at least three revolute joints each defining an axis of rotation, said at least three revolute joints being connected to associated second link members so that said axes of rotation of said at least three revolute joints intersect at a point of intersection, wherein the distance from said point of intersection to each spherical joint remains constant during movement of said at least three branches, said revolute joints being interconnected so that said at least three branches define at least three parallel closed loops; c) said at least three joints being an even number of revolute joints equal to twice the number of branches with each second link member having an end portion thereof attached to a first number of said at least three revolute joints, and a second number of said revolute joints being located in alternating relationship substantially between said first number of revolute joints and attached thereto by third link members, each of said second number of revolute joints having an axis of rotation and said axes of rotation intersecting at said point of intersection; and d) actuator means secured on a base and operably connected for moving each of said at least three branches.
Claim 21
Dependent Claim
42 words
The mechanism according to claim 18 wherein said actuator means includes a separate actuator for each of said at least three branches, said first link member of each branch being connected at an end portion thereof to one of said separate actuators.
Claim 22
Dependent Claim
26 words
The mechanism according to claim 19 wherein each of said actuators includes sensor means for measuring the position of each of said at least three branches.
Claim 23
Dependent Claim
14 words
The mechanism according to claim 20 including a computer connected to said sensor means.
Claim 24
Dependent Claim
16 words
The mechanism according to claim 19 including manually engageable means connected to said point of intersection.
Claim 25
Dependent Claim
17 words
The mechanism according to claim 19 including manually engageable means connected to one of said revolute joints.
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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) | 2001-12-07 | 2002-06-08 | 2002-12-08 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2005-12-07 | 2006-06-08 | 2006-12-08 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2009-12-07 | 2010-06-08 | 2010-12-08 | $7700.00 | Window Closed / Lapsed |