Patent ID: 9038942
Filing Date: 2015-05-26
Classification: B64C,Y10T

Abstract:
1. A passively torque-balanced device comprising: a frame; a powered and automated drive actuator mounted to the frame and configured for reciprocating displacement; a fulcrum joint coupled with the powered drive actuator; a proximate balancing link coupled with the powered drive actuator through the fulcrum joint and configured for displacement by the drive actuator; a first plurality of rigid links coupled with the proximate balancing link at a first end region of the proximate balancing link; a second plurality of rigid links coupled with the proximate balancing link at a second end region of the proximate balancing link, wherein the first and second end regions of the proximate balancing link respectively include opposite ends of the proximate balancing link; a plurality of joints, wherein at least one joint couples the first plurality of rigid links with the proximate balancing link at the first end region of the proximate balancing link, wherein at least one other joint couples the second plurality of rigid links with the proximate balancing link at the second end region of the proximate balancing link, wherein a first set of additional joints couples the first plurality of rigid links with each other in series, and wherein a second set of additional joints couples the second plurality of rigid links with each other in series, wherein the joints provide the rigid links with a plurality of non-fully actuated degrees of freedom for displacement of the rigid links; and at least two end effectors, wherein a first end effector is coupled with the first plurality of rigid links, and wherein a second end effector is coupled with the second plurality of rigid links, and wherein each end effector is configured for displacement without full actuation.