Patent ID: 8167873
Filing Date: 2012-05-01
Classification: A61B,B25J,Y10T

Abstract:
1. A robotic arm comprising: a first motor coupled to a first rotatable shaft extending from the first motor toward a remote center of spherical rotation; a second motor coupled to a second rotatable shaft extending from the second motor away from the remote center of spherical rotation; a ground link having a first end coupled to the first motor and an opposite second end coupled to the second motor; a first pair of pivotally coupled links having a first end coupled to the first rotatable shaft such that the first pair of links can pass a first side of the ground link closest to the remote center of spherical rotation; a second pair of pivotally coupled links having a first end coupled to the second rotatable shaft such that the second pair of links can pass a second side of the ground link furthest from the remote center of spherical rotation and opposite the first side, a second end of the second pair of links pivotally coupled to a second end of the first pair of links; wherein all joints that pivotally couple links together allow rotation around an axis that passes through the remote center of spherical rotation.