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US 4,098,001 AGranted
Remote center compliance system
AssigneeThe Charles Stark Draper Laboratory, Inc.
InventorPaul C. Watson
Life of this patent
Estimating the term…
Abstract
A remote center compliance system including means for establishing rotational motion about a center remote from the means for establishing the rotational motion and in two directions transverse to radii from the remote center.
Claims2
A remote center compliance system for an assembler device comprising:
- a first member fixed to said assembler device;
- a second member;
- operator means interconnected with said second member;
- a third member intermediately interconnected with said first and second members;
- at least three rotational interconnection elements interconnected between said third member and one of said first and second members and disposed along spherical radii of a remote center at, near or beyond the end of said operator means for enabling said operator means to rotate about said remote center;
- each of said rotational elements including a major motion portion proximate each of said members with which it is interconnected;
- and
- a plurality of translational interconnection elements interconnected between said third member and the other of said first and second members and disposed generally parallel to the axis of said operator means for enabling said operator means to translate relative to said first member;
- each of said translational elements including a major motion portion proximate each of said members with which it is interconnected.
6 more elements
Dependencies are inferred from the claim text.