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THREE-AXIS ROBOTIC JOINT USING FOUR-BAR LINKAGES TO DRIVE DIFFERENTIAL SIDE GEARS

  • US 20110296944A1
  • Filed: 06/02/2010
  • Published: 12/08/2011
  • Est. Priority Date: 06/02/2010
  • Status: Active Grant
First Claim
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1. A robotic joint, comprising:

  • a pitch-output roll assembly including;

    a housing,a differential mechanism, supported by the housing, including a left input gear, a right input gear, an output gear, a cross element interconnecting the gears, and a clevis supporting the gears and the cross element within the housing,a left four-bar linkage coupled to the left input gear,a right four-bar linkage coupled to the right input gear, andfirst and second linear actuators connected to the left and right four-bar linkages, respectively, selectively driving the left and right input gears to rotate the output gear about an output roll axis and to rotate the cross element about a pitch axis passing through the cross element and the input gears.

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