Robotic manipulator

An articulated manipulating system for mounting on a base in a robotic manipulator and capable of engaging selected objects, said system comprising:

• a subbase rotatably mounted on said base to have a single subbase rotation axis therethrough;
• a first linear actuator coupled at one end thereof to said base and coupled at an opposite end thereof to said subbase to be capable of rotating said subbase about said subbase rotation axis;
• a first effector base rotatably connected to said subbase to have a first effector rotation axis;
• a second linear actuator coupled at one end thereof to said subbase and coupled at an opposite end thereof to said first effector base to be capable of rotating said first effector base about said first effector rotation axis.

An articulated manipulating system for mounting on a base in a robotic manipulator and capable of engaging selected objects, said system comprising:

• a plurality of shackles each having a pair of arms spaced apart by a recess space with said arms being joined in a joining structure on one side of said recess space;
• a plurality of effector bases each rotatably mounted at a pivot location thereof to and between said separated arms of a corresponding shackle so as to leave a recess space between an end of that said effector base rotatably mounted to said shackle and said joining structure thereof;
• a fixed pedestal affixed to said base and having said joining structure of a corresponding one of said plurality of shackles rotatably coupled thereto;
• a moveable pedestal rotatably connected to said base and having said joining structure of a corresponding one of said plurality of shackles rotatably coupled thereto;
• and
• a pedestal linear actuator coupled at one end thereof to said base and coupled at an opposite end thereof to said moveable pedestal to be capable of rotating said moveable pedestal with respect to said base.

A controlled relative motion system having a base mounted in a robotic manipulator, said system comprising:

• an extended open interior member being rotatably coupled to said base to be capable of rotating about a corresponding interior member rotation axis along which a pair of spaced apart interior member sides extend so as to have an extended space therebetween, said extended open interior member being rotatably coupled to said base at an end thereof joining said interior member sides at one end of said extended space by a first shaft coupled thereto and being rotatably coupled to said base at an opposite end thereof also joining said interior member sides at an opposite end of said extended space by a second shaft coupled thereto;
• an output carrier having a pair of output carrier sides spaced apart by a recess space with said output carrier sides being joined in a joining structure on one side of said recess space, said output carrier being positioned to have said extended open interior member in said recess space with said output carrier sides at least in part extending substantially parallel to said interior member sides and to being rotatably coupled to said extended open interior member to be capable of rotating about a corresponding output carrier rotation axis substantially perpendicular to said interior member rotation axis, said output carrier being rotatably coupled to said extended open interior member by a follower shaft affixed to said output carrier and rotatably coupled to said extended open interior member;
• an interior member first bevel gear located in said extended space and affixed to said first shaft;
• an output carrier first bevel gear located in said extended space and affixed to said follower shaft to be engaged with said interior member first bevel gear;
• and
• a plurality of force imparting means mounted in said base with each of said first and second shafts being rotatably coupled to a corresponding one of said force imparting means in said plurality thereof.