Multi-backhoe linkage mechanism

An apparatus for rotating an output link around an output axis of rotation of an output joint at a base, the apparatus comprising a backhoe linkage mechanism that comprises a first closed kinematic chain that includes the output link, a connecting link, and an input link, wherein:

• the output link is connected via the output joint to the base and is connected via a connecting joint to the connecting link;
• and
• wherein the connecting link is connected via a bridging joint to the input link;
• and
• wherein the first closed kinematic chain further includes a base link connected via a base joint to the base, and connected via an input joint to the input link;
• wherein the backhoe linkage mechanism further comprises one or more additional closed kinematic chains connected successively in a series after the first closed kinematic chain, each additional closed kinematic chain including:
• a base link of a previous closed kinematic chain;
• an input link of the previous closed kinematic chain;
• an additional connecting link connected to the previous closed kinematic chain;
• an additional input link;
• and
• a kinematic connection between the closed kinematic chain and the previous closed kinematic chain;
• wherein the additional connecting link and the kinematic connection are connected to the previous closed kinematic chain such that actuation of the additional closed kinematic chain amplifies an angle of rotation of the output link around the output axis of rotation;
• and wherein the apparatus further comprises an actuating mechanism arranged to actuate the backhoe linkage mechanism.

A robot comprising an apparatus for rotating an output link around an output axis of rotation of an output joint at a base, the apparatus comprising:

• a backhoe linkage mechanism comprising:
• a first closed kinematic chain that comprises the output link, a connecting link, and an input link;
• wherein the output link is connected via the output joint to the base, and is connected via a connecting joint to the connecting link;
• and
• wherein the connecting link is connected via a bridging joint to the input link;
• and
• wherein the first closed kinematic chain further includes a base link connected via a base joint to the base, and connected via an input joint to the input link;
• wherein the backhoe linkage mechanism further comprises one or more additional closed kinematic chains connected successively in a series after the first closed kinematic chain, each additional closed kinematic chain including:
• a base link of a previous closed kinematic chain;
• an input link of the previous closed kinematic chain;
• an additional connecting link connected to the previous closed kinematic chain;
• an additional input link;
• and
• a kinematic connection between the closed kinematic chain and the previous closed kinematic chain;
• wherein the additional connecting link and the kinematic connection are connected to the previous closed kinematic chain such that actuation of the additional closed kinematic chain amplifies an angle of rotation of the output link around the output axis of rotation;
• wherein the apparatus further comprises an actuating mechanism arranged to actuate the backhoe linkage mechanism, and wherein the rotation of the output link is used for orientating a tool of the robot.