US 9,752,718 B1Granted

Two-axis joint

OwnerMichael Wittiginventor

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Abstract

A joint apparatus with two degrees of freedom and a large range of singularity-free motion is provided including a first support, a second support, a pivot coupled between the first and second supports for allowing the second support to tilt in first and second directions relative to the first support, a first linkage coupled between the first and second supports for tilting the second support in the first direction relative to the first support, and a second linkage coupled between the first and second supports for tilting the second support in the second direction relative to the first support.

Claims20

Dependent claims

A joint apparatus comprising:

a first support;
a second support;
a pivot coupled between the first and second supports for allowing the second support to rotate around first and second perpendicular axes relative to the first support while constraining the first and second supports from translating relative to each other;
a first link coupled to the first support such that the first link can rotate about a third axis relative to the first support;
a second link coupled to the first link such that the second link can rotate about a fourth axis relative to the first link, the fourth axis being angled relative to the third axis;
a third link coupled to the second link such that the third link can rotate about a fifth axis relative to the second link, the fifth axis being angled relative to fourth axis;
a fourth link coupled to the third link such that the fourth link can rotate about a sixth axis relative to the third link, the sixth axis being angled relative to the fifth axis, the fourth link also coupled to the second support such that the fourth link can rotate about a seventh axis relative to the second support, the seventh axis being angled relative to the sixth axis;
a fifth link coupled to the first support such that the fifth link can rotate about an eighth axis relative to the first support;
a sixth link coupled to the fifth link such that the sixth link can rotate about a ninth axis relative to the fifth link, the ninth axis being angled relative to the eighth axis;
a seventh link coupled to the sixth link such that the seventh link can rotate about a tenth axis relative to the sixth link, the tenth axis being angled relative to ninth axis;
and
an eighth link coupled to the seventh link such that the eighth link can rotate about an eleventh axis relative to the seventh link, the eleventh axis being angled relative to the tenth axis, the eighth link also coupled to the second support such that the second support can rotate about a twelfth axis relative to the eighth link, the twelfth axis being angled relative to the eleventh axis.

9 more elements

Dependencies are inferred from the claim text.

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Abstract

A joint apparatus comprising:

a first support;
a second support;
a pivot coupled between the first and second supports for allowing the second support to rotate around first and second perpendicular axes relative to the first support while constraining the first and second supports from translating relative to each other;
a first link coupled to the first support such that the first link can rotate about a third axis relative to the first support;
a second link coupled to the first link such that the second link can rotate about a fourth axis relative to the first link, the fourth axis being angled relative to the third axis;
a third link coupled to the second link such that the third link can rotate about a fifth axis relative to the second link, the fifth axis being angled relative to fourth axis;
a fourth link coupled to the third link such that the fourth link can rotate about a sixth axis relative to the third link, the sixth axis being angled relative to the fifth axis, the fourth link also coupled to the second support such that the fourth link can rotate about a seventh axis relative to the second support, the seventh axis being angled relative to the sixth axis;
a fifth link coupled to the first support such that the fifth link can rotate about an eighth axis relative to the first support;
a sixth link coupled to the fifth link such that the sixth link can rotate about a ninth axis relative to the fifth link, the ninth axis being angled relative to the eighth axis;
a seventh link coupled to the sixth link such that the seventh link can rotate about a tenth axis relative to the sixth link, the tenth axis being angled relative to ninth axis;
and
an eighth link coupled to the seventh link such that the eighth link can rotate about an eleventh axis relative to the seventh link, the eleventh axis being angled relative to the tenth axis, the eighth link also coupled to the second support such that the second support can rotate about a twelfth axis relative to the eighth link, the twelfth axis being angled relative to the eleventh axis.

9 more elements