Patent ID: 8540382
Filing Date: 2013-09-24
Classification: F16H,G01S,G02B,Y10T

Abstract:
1. A spherical mechanical linkage comprising: a yoke comprising an annular section and one or more yoke bearing points, the yoke defining a first intersecting axis and a second intersecting axis perpendicular to the first intersecting axis, the yoke bearing points being disposed on the yoke on the second intersecting axis; a crank comprising a crank bearing, the crank being rotatably coupled to the yoke about the first intersecting axis, the crank having a symmetry about the first axis; a deflecting member comprising an annular section and a stub shaft, the stub shaft being coupled to the crank bearing along a third intersecting axis, the deflecting member defining a rotating plane; and a rocking frame comprising an annular section slideably coupled to the deflecting member in the rotating plane and rotatably coupled to the yoke at the yoke bearing points; wherein the first intersecting axis, the second intersecting axis, and the third intersecting axis intersect at an intersection point in the rotating plane; and wherein the intersection point and the rotating plane define a payload axis normal to the rotating plane and passing through the intersection point.