Patent ID: 8931359
Filing Date: 2015-01-13
Classification: B25J,F16H,Y10T

Abstract:
1. An actuating device comprising: a first actuating device comprising a first base link comprising a first base plate, a first joint, and a second joint, wherein the first base plate extends between the first joint and the second joint; a first link mounted to the first joint to allow rotation of the first link relative to the first base plate at the first joint; a second link mounted to the second joint to allow rotation of the second link relative to the first base plate at the second joint; a first translating link comprising a first translating plate, a third joint, and a fourth joint, wherein the first translating plate extends between the third joint and the fourth joint, further wherein the first link is mounted to the third joint to allow rotation of the first link relative to the first translating plate at the third joint, and further wherein the second link is mounted to the fourth joint to allow rotation of the second link relative to the first translating plate at the fourth joint; a first shaft configured to mount to a first actuator such that the first actuator causes rotation of the first shaft, wherein, when operating the first actuating device, a position of the first shaft is fixed relative to the first base plate; and a first drive comprising a first arc surface, wherein the first drive is mounted to the first translating link such that, when operating the first actuating device, a position of the first arc surface is fixed relative to the first translating plate, and further wherein the first shaft is mounted to the first arc surface to cause translation of the first translating link relative to the first base link as the first shaft rotates; and a second actuating device comprising a second base link comprising a second base plate, a fifth joint, and a sixth joint, wherein the second base plate extends between the fifth joint and the sixth joint; a third link mounted to the fifth joint to allow rotation of the third link relative to the second base plate at the fifth joint; a fourth link mounted to the sixth joint to allow rotation of the fourth link relative to the second base plate at the sixth joint; a second translating link comprising a second translating plate, a seventh joint, and an eighth joint, wherein the second translating plate extends between the seventh joint and the eighth joint, further wherein the third link is mounted to the seventh joint to allow rotation of the third link relative to the second translating plate at the seventh joint, and further wherein the fourth link is mounted to the eighth joint to allow rotation of the fourth link relative to the second translating plate at the eighth joint; a second shaft configured to mount to a second actuator such that the second actuator causes rotation of the second shaft, wherein, when operating the second actuating device, a position of the second shaft is fixed relative to the second base plate; and a second drive comprising a second arc surface, wherein the second drive is mounted to the second translating link such that, when operating the second actuating device, a position of the second arc surface is fixed relative to the second translating plate, and further wherein the second shaft is mounted to the second arc surface to cause translation of the second translating link relative to the second base link as the second shaft rotates; wherein the second actuating device is mounted to the first actuating device.