Modular multimorphic kinematic arm structure and pitch and yaw joint for same
Patent
·
OSTI ID:5635864
This patent describes a modular multimorphic kinematic control arm means for selective manipulation of objects and the like comprising: support means for holding the arm means; substantially identical shoulder, elbow and wrist joint means interconnected by link means; the shoulder, elbow and wrist joint means each providing two degrees of freedom to the control arm means; wrist roll means interconnected by a the link means to the wrist joint means and rotatable thereon for providing one additional degree of freedom to the control arm means in the total provision of seven degrees of freedom and obstacle avoidance capability in the control arm means; and end effector means mounted on the wrist roll means for manipulating a the object and the like in response to movements of the control arm means; wherein the shoulder, elbow and wrist joint means each connect a support side link means and a manipulator side link means for relative motion thereof.
- Assignee:
- Dept. of Energy, Washington, DC (USA)
- Patent Number(s):
- A; US 4828453
- Application Number:
- PPN: US 7-041025A
- OSTI ID:
- 5635864
- Country of Publication:
- United States
- Language:
- English
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