Patent ID: 6612449
Filing Date: 2003-09-02
Classification: B25J,B66C

Abstract:
An intelligent power assisted manual manipulator having at least five axes and being controllable by operator inputs from an operator for moving an object, said manipulator comprising:a movable base comprising an overhead rail defining a generally horizontal first axis, and a carriage supported on said overhead rail and movable along said first axis; a lift mechanism for moving the object, wherein said lift mechanism is supported by said movable base and comprises a turret assembly supported on said carriage and having a generally vertical second axis and a generally horizontal third axis, a main arm extending from said turret assembly and being rotatable about said second axis, and a secondary arm depending downwardly from said main arm and being rotatable about a generally vertical fourth axis, and wherein said secondary arm comprises an attachment interface that is adapted to support the object and has a fifth axis; a linkage pivotally attached at one end to said turret assembly and operatively connected at another end to said secondary arm for maintaining said secondary arm in a generally vertical orientation; at least one servomotor for drivingly translating said carriage along said first axis and for drivingly rotating said main arm about said second axis; an operator control mechanism for receiving the operator inputs to control said manipulator about said first, second, third, fourth, and fifth axes, said operator control mechanism supported on said lift mechanism; and a plurality of force sensors disposed between said operator control mechanism and said lift mechanism, said force sensors sensing a force of the operator inputs and causing said at least one servomotor to actuate at least one of said movable base and said lift mechanism such that the object is moved.