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Controller arm for a remotely related slave arm

  • US 4,160,508 A
  • Filed: 08/19/1977
  • Issued: 07/10/1979
  • Est. Priority Date: 08/19/1977
  • Status: Expired due to Term
First Claim
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1. In a manipulator system characterized by an articulated slave arm having a plurality of pivotally connected segments for performing a variable task at a work site, and a controller remotely related to the work site and connected to the slave arm, the improvement comprising:

  • an articulated controller arm characterized by a segmented controller shaft including a plurality of controller shaft segments, each segment of said plurality being configured and dimensioned to form a miniature kinematic replica of a corresponding segment of the slave arm and supported for relative angular displacement about a pair of intersecting axes duplicatable by the slave arm, said pair of axes intersecting and defining therebetween a constant included angle of 45°

    ;

    an articulated skeletal body for supporting said controller shaft including a plurality of pivotal segments symmetrically related to said controller shaft and supported for angular displacement about pivotal axes normally related to one axis of said pair of intersecting axes.

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