Patent ID: 6116844
Filing Date: 2000-09-12
Classification: B25J,F16H,G05G

Abstract:
An actuable mechanism for orienting an end member with respect to a base, the end member being constrained by a fixed support joint having at least two rotational degrees of freedom and a center of rotation for said at least two rotational degrees of freedom, said mechanism being characterized by two 5-bar linkages each defining a closed loop and having:(a) a base link with two ends, said base link being connected to the base through a revolute joint;(b) first and second proximal links connected respectively to the ends of the base link;(c) a driven joint positioned opposite to said base link and joined thereto by first and second distal links which are respectively coupled through said proximal links to said base link; and(d) first and second actuated joints positioned within said closed loop between said base link and said driven joint for displacing the driven joint with respect to the base link,wherein the actuated joints of each of said 5-bar linkages are connected to the end member through said driven joints by connectors respectively located at connection points on said end member, said driven joints having at least two degrees of rotational freedom, said connection points being non-coincident with the center of rotation for the support joint, thereby to provide mobility to the end member with respect to said base in response to said actuators joints.