Articulation device

An articulation device comprising:

• an inertia body;
• a stationary holder member defining a contacting surface of a predetermined curve;
• a moving member which is rotatable with respect to the holder member and which is in a frictional contact with the contacting surface of the stationary member, so that the moving member is slidably rotatable with respect to the holder member;
• means for supporting the inertia body with respect to the moving member while allowing a relative movement to occur between the inertia body and moving member, and;
• actuator means arranged between the moving member and the inertia body for generating the relative movement;
• said actuator means generating said relative movement between the inertia body and moving member in one direction and such that a reaction force generated in the moving member by an inertia of the inertia body exceeds said frictional force between the moving member and the contacting surface of the stationary member;
• said actuator means generating said relative movement between the inertia body and moving member in the opposite direction such that a reaction force generated in the moving member by an inertia of the inertia body does not exceed said frictional force.

An articulation device comprising;

• an inertia body;
• a stationary holder member defining a contacting surface of a predetermined curve;
• a moving member which is rotatable with respect to the holder member and which is in a frictional contact with the contacting member of the stationary member, so that the moving member is slidably rotatable with respect to the holder member, and;
• actuator means arranged between the moving member and the inertia body for supporting the inertia body with respect to the moving member while generating a relative movement between the inertia body and moving member;
• said actuator means generating said relative movement between the inertia body and moving member in one direction such that a reaction force generated in the moving member by an inertia of the inertia body exceeds said frictional force between the moving member and the contacting surface of the stationary member;
• said actuator means generating said relative movement between the inertia body and moving member in the opposite direction such that a reaction force generated in the moving member by an inertia of the inertia body does not exceed said frictional force.

An articulation device comprising;

• an inertia body;
• a stationary holder member defining a contacting surface of a predetermined curve;
• a moving member which is rotatable with respect to the holder member and which is in a frictional contact with the contacting member of the stationary member, so that the moving member is slidably rotatable with respect to the holder member;
• said moving member being formed by a resilient material and forming, on its one side faced the inertia body, a surface extending transversely to an axial direction of the articulation device, and;
• actuator means arranged between the moving member and the inertia body for supporting the inertia body with respect to the moving member while generating a relative movement between the inertia body and moving member;
• said actuator means comprise a plurality of circumferentially spaced actuating sections for generating a localized movement between the inertia body and portions of the supporting member along plurality of planes transverse to said surface of the moving member;
• the circumferentially adjacent actuating sections being operated such that a fixed amount of local displacement consecutively occurs between the adjacent actuating sections in one circumferential direction so that a reaction force generated in the moving member by an inertia of the inertia body exceeds said frictional force between the moving member and the contacting surface of the stationary member;
• the circumferentially adjacent actuating sections being operated such that a fixed amount of local displacement consecutively occurs between the adjacent actuating sections in the opposite circumferential direction so that a reaction force generated in the moving member by an inertia of the inertia body does not exceed said frictional force between the moving member and the contacting surface of the stationary member.

An articulation device comprising:

• a stationary holder member defining a contacting surface of a predetermined curve;
• a moving member which is rotatable with respect to the holder member and which is in contact with the stationary member while providing a predetermined frictional force between the stational member and the moving member, so that the moving member is slidably rotatable with respect to the holder member;
• an inertia body which is connected with the moving member while allowing a relative movement to occur between the inertia body and moving member, and;
• a bending movement generator arranged between the moving member and the inertia body for generating a relative movement between the holder member and the moving member;
• said relative movement being such that a gradual bending movement of the bending movement generator causes the inertia body to be subjected to a fine movement, and a rapid bending movement of the bending movement generator causes an inertia reaction force to be generated in the moving member due to the inertia of the inertia body, thereby causing the moving member to be slidably moved with respect to the contacting surface of the holder member against said frictional force, causing the inertia body to be subjected to a rough movement.

A micro-manipulator comprising:

• a finger for working a workpiece and;
• an articulation device;
• said articulation device comprising:
• a stationary holder member defining a contacting surface of a predetermined curve;
• a moving member which is rotatable with respect to the holder member and which is contact with the stationary member while providing a predetermined frictional force between the stational member and the moving member, so that the moving member is slidably rotatable with respect to the holder member;
• an inertia body which is connected to the moving member while allowing a relative movement to be occurred between the inertia body and moving member, and;
• a bending movement generator arranged between the moving member and the inertia body for generating a relative movement between the holder member and the moving member;
• said relative movement being such that a gradual bending movement of the bending movement generator causes the inertia body to be subjected to a fine movement, and a rapid bending movement of the bending movement generator causes an inertia reaction force to be generated in the moving member due to the inertia of the inertia body, thereby causing the moving member to be slidably moved with respect to the contacting surface of the holder member against said frictional force, causing the inertia body to be subjected to a rough movement.