Object manipulator

An object manipulator for selectively positioning an object, comprising:

• base means;
• object support means for supporting the object to be positioned;
• elongate flexible main body means connected adjacent one end thereof to said base means and adjacent its opposite end to said support means for undergoing selected multidirectional bending and twisting movements effective to vary the position of said support means relative to said base;
• said elongate body means having a longitudinal axis and including resilient flexure members spaced about said axis and having respective longitudinal axes extending in generally parallel relationship to said axis of said elongate body means;
• and
• drive means connected to said flexure members for imparting thereto motions causing said multidirectional bending and twisting movements of said elongate body means, said drive means including means for selectively rotating said flexure members about the respective longitudinal axes thereof.

An object manipulator for selectively positioning an object, comprising:

• base means;
• object support means for supporting the object to be positioned;
• elongate flexible main body means connected adjacent one end thereof to said base means and adjacent its opposite end to said support means for undergoing selected multidirectional bending and twisting movements effective to vary the position of said support means relative to said base;
• said elongate body means having a longitudinal axis and including resilient flexure members spaced about said axis and extending in generally parallel relationship thereto, said object support means including a support member having first and second sections interconnected for pivotal movement relative to each other and rotative movement with each other in response to axial movement of said flexure members;
• and
• drive means connected to said flexure members for imparting thereto motions causing said multidirectional bending and twisting movements of said elongate body means.

An object manipulator for selectively positioning an object, comprising:

• base means;
• object support means for supporting the object to be positioned;
• elongate flexible main body means connected adjacent one end thereof to said base means and adjacent its opposite end to said support means for undergoing selected multidirectional bending and twisting movements effective to vary the position of said support means relative to said base;
• said elongate body means having a longitudinal axis and including resilient flexure members spaced about said axis and extending in generally parallel relationship thereto;
• and
• drive means connected to said flexure members for imparting thereto motions causing said multidirectional bending and twisting movements of said elongate body means, said drive means being located and connected to said flexure members adjacent said base means, said drive means including a piston and cylinder assembly and means for rotating said assembly about its longitudinal axis.

An object manipulator for use as a robot arm or the like, comprising:

• base means;
• object support means for supporting an object to be positioned;
• elongate flexible main body means connected adjacent one end thereof to said base means and adjacent its opposite end to said support means, for undergoing controlled multidirectional movements, effective to vary the position of said support means relative to said base means, of any desired type in the group consisting of the extension, retraction, bending and twisting types;
• said main body means having a longitudinal axis and including at least three elongate resilient flexure members spaced equally from each other about said axis and extending in generally parallel relationship thereto, said main body undergoing translatory movement generally parallel to said axis during said extension and retraction thereof;
• said flexure members being rods adapted for and capable of transmission of axial compressive-type loads of substantial magnitude applied thereto during use of the manipulator, and having first end portions adjacent said base means;
• drive means carried by said base means and operatively connected to said first end portions of said flexure members for, when actuated, imparting to said flexure members selected motions causing movement of said main body elongate means of any desired one of said types.

An object manipulator for use as a robot arm or the like, comprising:

• base means;
• object support means;
• elongate means extending between and interconnecting said base and support means, said elongate means having a central axis and including a plurality of elongate resilient flexure members spaced from each other about said axis and extending in generally parallel relationship thereto;
• drive means connected to said flexure members for axially moving some of said members relative to other of said members;
• reacting means associated with said support means for so reacting to forces applied thereto by said relative axial movement of said flexure members as to produce a moment causing rotation of said support means and twisting of said elongate means about said axis of said elongate means, said reacting means including a support member having first and second sections, and pivot means pivotally interconnecting said sections for pivotal movement thereof in opposite directions relative to each other.