Control mechanism for end-effector maneuver
OwnerDaniel Kurniantoinventor
Life of this patent
Estimating the term…
Abstract
A control mechanism for maneuvering an end effector is provided. The control mechanism comprises multiple actuator assemblies, multiple arm assemblies, and the end effector. Each of the multiple arm assemblies connect the end effector and the multiple actuator assemblies respectively. Each multiple actuator assemblies controls the movement of the multiple arm assemblies independently. One of the arm is rotated by a tool actuator where the rotating motion of the rotating arm drives a tool attached at the end effector. The control mechanism positions the tool actuator away from the end effector, thereby operating the tool at a remote location away from the end effector.
Claims20
A control mechanism for end effector maneuver comprising:
- an end effector;
- a plurality of arm assemblies, each of the plurality of arm assemblies comprising at least two arms;
- a plurality of actuator assemblies, each of the plurality of actuator assemblies comprising a guide member and a moving member, the moving member being moveable along the guide member, the plurality of arm assemblies respectively connecting the plurality of actuator assemblies, at each of their moving members, to the end effector in pivotal relation at each connecting joints;
- and
- a tool actuator rotating at least one arm of the plurality of arm assemblies about its length, thereby providing a rotational motion to the rotating arm, wherein the rotational motion is translated from the tool actuator to a gear attached at the end effector through the rotating arm, the connecting joint between the end effector and the rotating arm is a universal joint engaging the gear.
A method for controlling an end effector, the method comprising the steps of:
- maneuvering an end effector by respectively actuating a plurality of arm assemblies with a plurality of actuator assemblies, each of the plurality of actuator assemblies comprising a guide member and a moving member, the moving member being slidably engaged with the guide member, the plurality of arm assemblies respectively connecting the plurality of actuator assemblies, at each of their moving members, to the end effector in pivotal relation at each connecting joints, each of the plurality of arm assemblies comprising at least two arms;
- rotating at least one arm of the plurality of arm assemblies about its length with a tool actuator, thereby providing a rotational motion to the rotating arm;
- and
- translating the rotational motion to a gear attached at the end effector with a universal joint, engaging the gear and positioned at the connecting joint between the end effector and the rotating arm.
A control mechanism for end effector maneuver comprising:
- an end effector;
- a plurality of arm assemblies, each of the plurality of arm assemblies comprising at least two arms;
- a plurality of linear actuator assemblies, each of the plurality of linear actuator assemblies comprising a vertical guide member and a moving member, the moving member being moveable along the vertical guide member, the plurality of arm assemblies respectively connecting the plurality of linear actuator assemblies, at each of their moving members, to the end effector in pivotal relation at each connecting joints;
- and
- a plurality of tool actuators, respectively rotating at least one arm of the plurality of arm assemblies about its length, thereby providing a rotational motion to each of the rotating arms, wherein the rotational motion is translated respectively from the plurality of tool actuators to a plurality of gears attached at the end effector through the rotating arms, the connecting joints between the end effector and each of the rotating arms are universal joints each engaging one of the plurality of gears.
Dependencies are inferred from the claim text.