Patent ID: 6497548
Filing Date: 2002-12-24
Classification: B23Q,B25J,Y10T

Abstract:
A mechanism for positioning and orienting an end component in space with at least five degrees of freedom, the mechanism comprising:a base; at least first, second, third, fourth, and fifth actuator limbs, each of the actuator limbs including at least a first limb member pivotably mounted to said base, a second limb member movably connected to the first limb member, and an elbow movably connected to the second limb member, wherein the elbow has at least four degrees of freedom relative to said base, at least one of said degrees of freedom of the elbow being actuatable relative to the base, and wherein at least three of the degrees of freedom of the elbow are free, including one free rotational degree of freedom about a respective limb axis; a first joint body, the elbows of said first, second, and third actuator limbs each being mounted to said first joint body such that the first, second, and third actuator limbs are each movable relative to said first joint body about a respective joint axis which is non-parallel to the limb axis of the respective actuator limb, wherein the joint axes of said first joint body and the limb axes of the first, second, and third actuator limbs intersect at a first common point; a second joint body, the elbows of said fourth and fifth actuator limbs each being mounted to said second joint body such that the fourth and fifth actuator limbs are each movable relative to the second joint body about a respective joint axis which is non-parallel to said limb axis of the respective actuator limb, wherein the joint axes of said second joint body and the limb axes of the fourth and fifth actuator limbs intersect at a second common point; and an end component movably mounted to said second joint body, the end component being movably connected to said first joint body such that said end component is movable with three degrees of freedom relative to the first joint body and five degrees of freedom relative to said base.