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US 2015/0082934 A1Published application
Spherical Coordinates Manipulating Mechanism
AssigneeWen-Der Trui
InventorsWen-Der Trui, Shu-Ching Lin
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Abstract
A spherical coordinates manipulating mechanism for improving the utility of U.S. Pat. No. 8,579,714 B2 is provided. Four inner and outer arc-links are pivotally connected to the inner and outer frame respectively so as to carry out a three degrees-of-freedom steering motion. At least one effector arc-link set is selectively connected to the inner or outer frame so that the spherical coordinates manipulating mechanism can directly output force or torque.
Claims10
A spherical coordinates manipulating mechanism comprising an outer frame assembly, an inner frame assembly, four outer arc-link sets each including an outer arc-link, four inner arc-link sets each including an inner arc-link, and at least one effector arc-link set wherein:
- the outer frame assembly comprises an outer frame including a plurality of brackets and four outer rotating members mounted to the outer frame wherein the outer frame has four vertexes geometrically defined by an outer tetrahedron, vertex-to-center lines of the outer tetrahedron are coincided with a center of the outer frame, and an axis of the outer rotating member is coincided with a vertex-to-center line of the outer tetrahedron;
- the inner frame assembly comprises an inner frame including a plurality of brackets and four inner rotating members mounted to the inner frame wherein the inner frame has four vertexes geometrically defined by an inner tetrahedron, vertex-to-center lines of the inner tetrahedron are coincided with a center of the inner frame, the center of the inner frame is coincided with the center of the outer frame, and an axis of the inner rotating member is coincided with a vertex-to-center line of the inner tetrahedron;
- the outer arc-link has an outer end pivotally connected to one of the outer rotating members through an outer axle, and an inner end pivotal about an outer end of the inner arc-link through a joint axle wherein both the outer axle and the joint axle are coincided with the center of the outer frame;
- the inner arc-link has an inner end pivotally connected to one of the inner rotating members through an inner axle wherein the inner axle is coincided with the center of the inner frame;
- sum of arc lengths of the outer arc-link and its corresponding inner arc-link is less than or equal to 180°;
- sum of arc lengths of any two of the outer arc-links is greater than or equal to an angle between their corresponding vertex-to-center lines of the outer frame;
- sum of arc lengths of any two of the inner arc-links is greater than or equal to an angle between their corresponding vertex-to-center lines of the inner frame;
- each of the at least one effector arc-link set comprises an effector arc-link having two ends pivotal about an effector rotating member and an end effector respectively wherein the effector arc-link and the outer arc-link are coincided with a vertex-to-center line of the outer tetrahedron for concentrically rotating the effector arc-link into a predetermined orbit;
- and
- arc length of the effector arc-link is less than or equal to 90°.
7 more elements
A spherical coordinates manipulating mechanism comprising an outer frame assembly, an inner frame assembly, four outer arc-link sets each including an outer arc-link, four inner arc-link sets each including an inner arc-link, and at least one effector arc-link set wherein:
- the outer frame assembly comprises an outer frame including a plurality of brackets and four outer rotating members mounted to the outer frame wherein the outer frame has four vertexes geometrically defined by an outer tetrahedron, vertex-to-center lines of the outer tetrahedron are coincided with a center of the outer frame, and an axis of the outer rotating member is coincided with a vertex-to-center line of the outer tetrahedron;
- the inner frame assembly comprises an inner frame including a plurality of brackets and four inner rotating members mounted to the inner frame wherein the inner frame has four vertexes geometrically defined by an inner tetrahedron, vertex-to-center lines of the inner tetrahedron are coincided with a center of the inner frame, the center of the inner frame is coincided with the center of the outer frame, and an axis of the inner rotating member is coincided with a vertex-to-center line of the inner tetrahedron;
- the outer arc-link has an outer end pivotally connected to one of the outer rotating members through an outer axle, and an inner end pivotal about an outer end of the inner arc-link through a joint axle wherein both the outer axle and the joint axle are coincided with the center of the outer frame;
- The inner arc-link has an inner end pivotally connected to one of the inner rotating members through an inner axle wherein the inner axle is coincided with the center of the inner frame;
- sum of arc lengths of the outer arc-link and its corresponding inner arc-link is less than or equal to 180°;
- sum of arc lengths of any two of the outer arc-links is greater than or equal to an angle between their corresponding vertex-to-center lines of the outer frame;
- sum of arc lengths of any two of the inner arc-links is greater than or equal to an angle between their corresponding vertex-to-center lines of the inner frame;
- each of the at least one effector arc-link set comprises an effector arc-link having two ends pivotal about an effector rotating member and an end effector respectively wherein the effector arc-link and the outer arc-link are coincided with a vertex-to-center line of the inner tetrahedron for concentrically rotating the effector arc-link into a predetermined orbit;
- and
- arc length of the effector arc-link is less than or equal to 90°.
7 more elements
Dependencies are inferred from the claim text.