Flexible robotic arm
AssigneeThe United States of America as represented by the Administrator of the National Aeronautics and Space Administration
InventorsIsrael A. Moya, Philip A. Studer
Life of this patent
Estimating the term…
Abstract
A plurality of identical modules are serially connected together with each module including a base plate and a top plate interconnected by a universal joint assembly so that the top plate is adapted to pivotally nutate around the base plate to describe a cone in space. An array of twenty-four electromagnets, sequentially energized in sets of three, are arranged in a ring around the periphery of the base plate. Selective energization of the eight sets of electromagnets causes the rim of the top plate to be magnetically attracted to the energized electromagnets. The tilt of the top pivot plate is detected and controlled over a range of 360.degree., thus permitting a series string of modules to assume any desired elongated configuration.
Claims20
A flexible robotic arm, comprising:
- a plurality of serially connected modules wherein each module includes,
- a metallic base plate having a top surface,
- a metallic top plate pivotally connected to the base plate and having a beveled bottom surface so as to conically nutate around the top surface of the base plate,
- said base plate further having permanent magnet means located at the center and a plurality of energizable electromagnets arranged in a ring around the perimeter for generating a localized magnetic field for at least magnetically attracting thereto a predetermined peripheral portion of the top plate;
- and
- means for connecting predetermined base plates of said modules to adjacent top plates thereof.
Dependencies are inferred from the claim text.