Straight-line and planar mechanism and machines

Abstract

The present invention provides for a mechanism that allows for the creation of devices and machines that function to move, position and hold relative to straight lines and parallel planes. The functions are enabled without the use of sliding surfaces or linear bearings, and, in the case of robotics, without the use of complex calculations and control systems. The mechanism of the present invention incorporates a four bar planar parallelogram linkage with the ground link fitted with at least one additional coplanar pivotable link. The additional link and one of the four bar linkage's rocker links are fitted with circular means. Crossed flexible pulling and holding means are applied in a way so that, when the additional pivotable link is moved in a direction, the connected rocker link moves in the opposite direction, and, when the additional planar pivotable link is held in a certain position, the connected rocker link is held in the same relative position. The further rocker link and the coupler of the planar four bar linkage either move or are held accordingly. The described mechanism is added to and mounted in various ways to enable the described functions.

Dependencies are inferred from the claim text.