Patent ID: 6047610
Filing Date: 2000-04-11
Classification: B25J,G05G,Y10T

Abstract:
A manipulator comprising of a pair of symmetrical 5 bar linkages, each said linkages having a waist link, a pair of proximal links each mounted on said waist link in spaced relationship for movement around spaced parallel axes each extending substantially perpendicular to said waist link, each of said proximal links having a motor for moving its proximal link about its axis of said pair of parallel axes, a pair of distal links one pivotably connected to each of said proximal links on its pivotal axis which is substantially parallel to said pair of axes and a pivotal connection interconnecting an end of each said distal links remote from said proximal links, a platform, a pair of universal joint type connectors connecting a pair of opposite sides of said platform with its adjacent free end of it adjacent said pair of 5 bar linkages, and a drive motor means driving at least one of said waist links for rotation about its longitudinal axis and a platform motor for driving one of said universal joint connectors.