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Mass transfer tool manipulator assembly with remote center of compliance

  • US 10,183,396 B2
  • Filed: 11/29/2016
  • Issued: 01/22/2019
  • Est. Priority Date: 05/08/2014
  • Status: Active Grant
First Claim
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1. A remote center robot, comprising:

  • a first linkage having a first upper joint and a first lower joint separated along a first axis by a first link arm;

    a second linkage mounted on the first linkage, the second linkage having a second upper joint and a second lower joint separated along a second axis by a second link arm, wherein the first axis and the second axis intersect at a remote rotational center on a z-axis;

    wherein the first axis and the z-axis extend within a first plane, and wherein the second axis and the z-axis extend within a second plane, and wherein the first plane is offset from the second plane by an angle; and

    a first linear actuator having a first end fixed relative to the first upper joint, wherein actuation of the first linear actuator changes a first angle between the first axis and the z-axis.

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