Modular suspended manipulator
AssigneeThe United States of America as represented by the Secretary of Commerce
InventorsJames S. Albus, Roger V. Bostelman, Adam S. Jacoff
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Abstract
A cable-driven manipulator can precisely manipulate tools and loads using position, velocity and force control modes. The manipulator includes a plurality of cables (2 or more) that are independently controlled by modular, winch drive-mechanisms and coordinated to achieve intuitive manipulator movement in all six degrees-of-freedom. The manipulator consisting of modular sub-assemblies and components (i.e. winch, amplifier, servo interface, sensory feedback), can be rapidly reconfigured to adjust to new applications. Various combinations of manual and automatic control can also be implemented. The winches can be controlled manually by a multi-axis joystick, or can be automatically controlled by computer.
Claims20
A modular manipulator comprising:
- a servo module having a plurality of winches, with corresponding servo axes and winch support structure, sensors, and drive mechanisms by which the winches are independently controlled,
- a support suspended from three attachment points and which can be positioned at various locations below said attachment points, said servo module mounted to said support, and
- at least six cables extending between said attachment points and said winches by which said support is suspended and positioned below the attachment points, said cables being wound up by and unwound from the winches to position the support at a selected location below said attachment points,
- wherein said servo module is one of a plurality of servo modules providing for reconfiguration of said servo axes and a variety of cable configurations, a combination of which provides the support with six degrees of freedom.
Dependencies are inferred from the claim text.