Patent ID: 7392722
Filing Date: 2008-07-01
Classification: B25J,G05G,G06F,Y10T

Abstract:
1. A controller comprising three parallel arms ( 2 ) connecting a base ( 1 ) to a platform ( 3 ) carrying grasping means such as a handle ( 4 ), the arms comprising three links ( 5 , 6 , 7 ) of which a first link ( 5 ) is joined to the base by a first joint ( 8 ) which is a pivot joint of the first link about itself, a second link ( 6 ) joined to the first link ( 5 ) by a second joint ( 9 ) which is a rotation joint to modify an angle between the first link and the second link, a third link ( 7 ) joined to the platform ( 3 ) by a ball-joint ( 11 ) and to the second link ( 6 ) by a third joint ( 10 ) which is a rotation joint to modify an angle between the second link and the third link, wherein each of the arms only comprise two force feedback motors ( 16 , 23 ), of which a first motor ( 16 ) fixed to the base ( 1 , 12 ) and measuring pivot movements of the first link ( 5 ) and a second motor ( 23 ) positioned on the second joint ( 6 ) and measuring the rotations between the first link and the second link.