Two degree of freedom robotic manipulator constructed from rotary drives

A two degree-of-freedom positioning and manipulating apparatus, comprising:

• a first cylindrical driven member rotatably mounted to a fixed support member for rotation about a first driven axis;
• first drive means mounted to said fixed support member and adjacently disposed to said first cylindrical driven member for controllably rotating said first cylindrical driven member about said first driven axis;
• a second cylindrical driven member rotatably mounted in close proximity to said first cylindrical driven member for rotation about a second driven axis;
• and
• a second drive means mounted to said fixed support member and adjacently disposed to said second cylindrical driven member for controllably rotating said second cylindrical driven member about said second driven axis.

A two degree-of-freedom positioning and manipulating apparatus, comprising:

• a first rotary drive comprising a generally cylindrical first driven member and a generally cylindrical first driver member, said first driver member being rotatable about a first driver axis and coupled to said first driven member whereby rotation of said first driver member rotates said first driven member about a first driven axis, said first driver axis and said first driven axis being generally parallel;
• a second rotary drive comprising a generally cylindrical second driven member and a generally cylindrical second driver member, said second driver member being rotatable about a second driver axis and coupled to said second driven member whereby rotation of said second driver member rotates said second driven member about a second driven axis, said second driver axis and said second driven axis being generally parallel;
• and
• wherein the second driven member is rotatably mounted in close proximity to the first driven member for rotation about said second driven axis, said first driven axis and said second driven axis being offset and generally parallel, and said second driver axis being generally coincident with said first driven axis.

A two degree-of-freedom positioning and manipulating apparatus, comprising:

• a first rotary drive comprising a generally cylindrical first driven member and a generally cylindrical first driver member, said first driver member being rotatable about a first driver axis and coupled to said first driven member whereby rotation of said first driver member rotates said first driven member about a first driven axis, said first driver axis and said first driven axis being generally parallel;
• a second rotary drive comprising a generally cylindrical second driven member and a generally cylindrical second driver member, said second driver member being rotatable about a second driver axis and coupled to said second driven member whereby rotation of said second driver member rotates said second driven member about a second driven axis, said second driver axis and said second driven axis being generally parallel;
• and
• wherein the second driven member is rotatably mounted in close proximity to the first driven member for rotation about said second driven axis, said first driven axis and said second driven axis being offset and generally parallel, and said second driver axis being generally coincident with said first driven axis;
• and
• wherein said first driver member is coupled to said first driven member by a first cable means and said second driven member is coupled to said second driven member by a second cable means.

A two degree-of-freedom measuring apparatus, comprising:

• a first rotary drive comprising a generally cylindrical first driven member and a generally cylindrical first driver member, said first driver member being rotatable about a first driver axis and coupled to said first driven member whereby rotation of said first driver member rotates said first driven member about a first driven axis, said first driver axis and said first driven axis being generally parallel;
• a second rotary drive comprising a generally cylindrical second driven member and a generally cylindrical second driver member, said second driver member being rotatable about a second driver axis and coupled to said second driven member whereby rotation of said second driver member rotates said second driven member about a second driven axis, said second driver axis and said second driven axis being generally parallel;
• wherein the second driver member is rotatably mounted in close proximity to the first driver member for rotation about said second driver axis, said first driver axis and said second driver axis being offset and generally parallel, and said second driven axis being generally coincident with said first driver axis;
• a first measuring means coupled to said first driven member;
• and
• a second measuring means coupled to said second driven member.