Method and apparatus for improved stiffness in the linkage assembly of a flexible arm

A method making a flexible arm linkage assembly with a tensioning cable, comprising the steps of:

• providing a first link forming a first contact surface composed of a first contact material and approximating a partial convex surface supporting said tensioning cable passing through said first contact surface;
• providing a second link forming a second contact surface composed of a second contact material and approximating a partial concave surface supporting said tensioning cable passing through said second contact surface;
• and
• said tensioning cable inducing a contact between said first contact surface and said second contact surface to create a high friction coupling between said first link and said second link;
• wherein said first contact material is distinct from said second contact material;
• wherein each of said first contact material and said second contact material is primarily composed of a respective metallic compound;
• wherein said first contact surface composed of said first contact material contacting said second contact surface composed of said second contact material has a friction coefficient greater than each member of the collection comprising:
• a friction coefficient value of 0.3;
• said first contact surface composed of said first contact material contacting said second contact surface composed of said first contact material;
• and
• said first contact surface composed of said second contact material contacting said second contact surface composed of said second contact material.

A flexible arm linkage assembly provided with a tensioning cable, comprising:

• a first link forming a first contact surface composed of a first contact material and approximating a partial convex surface supporting said tensioning cable passing through said first contact surface;
• a second link forming a second contact surface composed of a second contact material and approximating a partial concave surface supporting said tensioning cable passing through said second contact surface;
• and
• a high friction coupling between said first link and said second link is created by said first contact surface contacting said second contact surface when induced by said tensioning cable;
• wherein each of said first contact material and said second contact material is primarily composed of a respective metallic compound;
• wherein said first contact surface contacting said second contact surface when induced by said tensioning cable further provides a maximal static friction combined with a maximal kinetic friction between said first link and said second link through a contact region;
• wherein said contact region is smaller than a maximal contact region obtained from altering at least one member of the collection comprising said first contact surface and said second contact surface;
• and
• wherein said first contact surface composed of said first contact material contacting said second contact surface composed of said second contact material has a friction coefficient greater than a friction coefficient value of 0.3.

A method of making flexible arm linkage assembly provided with a tensioning cable, comprising the steps of:

• providing a first link forming a first contact surface composed of a first contact material and approximating a partial convex surface supporting said tensioning cable passing through said first contact surface;
• providing a second link forming a second contact surface composed of a second contact material and approximating a partial concave surface supporting said tensioning cable passing through said second contact surface;
• and
• said tensioning cable inducing a high friction coupling between said first link and said second link by said first contact surface contacting said second contact surface;
• wherein the step said tensioning cable inducing said high friction coupling is further comprised of the step:
• said first contact surface contacting said second contact surface when induced by said tensioning cable providing a maximal static friction combined with a maximal kinetic friction between said first link and said second link through a contact region;
• wherein each of said first contact material and said second contact material is primarily composed of a respective metallic compound;
• wherein said contact region is smaller than a maximal contact region obtained from altering at least one member of the collection comprising said first contact surface and said second contact surface;
• and
• wherein said first contact surface composed of said first contact material contacting said second contact surface composed of said second contact material has a friction coefficient greater than a friction coefficient value of 0.3.