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Mechanism for movements of prefixed path, referable as of elliptical shape

  • US 5,534,761 A
  • Filed: 10/28/1993
  • Issued: 07/09/1996
  • Est. Priority Date: 05/21/1991
  • Status: Expired due to Term
First Claim
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1. A mechanism for providing a predetermined elliptical movement comprising:

  • a support base (1);

    three arms including a first arm (3), a second arm (4) and a third arm (5) attached to the support base, each of the arms having an inner end and an outer end, the inner end of the first arm (3) being rotatably coupled to the support base, defining a first rotation axis (a), the inner end of the second arm (4) being rotatably coupled to the outer end of the first arm (3) to define a second rotation axis (b) and the inner end of the third arm (5) being rotatably coupled to the outer end of the second arm (4), to define a third rotation axis (c);

    motor means (2) for rotating the first arm (3) about the first axis (a) with respect to the support base;

    support means (30), for supporting an object, attached to the outer end of the third arm (5);

    transmission means mounted inside said arms and comprising a first transmission means (13) in said first arm (3), linked between said support base (1) and the second arm (4) to control the rotation of the second arm;

    a second transmission means (16) in said second arm (4), linked between the outer end of the first arm (3) and the third arm (5) to control the rotation of the third arm, a third transmission means (19) linked between the outer end of the second arm (4) and the support means (30) to control at least one of translational and rotational movements of the support means with respect to the support base (1); and

    driving means (10,

         11) for providing a power transfer coupling between said motor means (2) and said first arm (3) to control the rotation of the first, second and third arms, so that the first, second and third transmission means are driven by the motor means;

    a first toothed wheel (12) integrally mounted to said support base (1) co-axially with the first rotation axis (a) of said first arm (3), and a second toothed wheel (14) located in the first arm (3), co-axial with the second rotation axis (b) of said second arm (4) and integral therewith, the first transmission means (13) comprising a non-slip drive linkage connected between the first and second toothed wheels (12,

         14);

    a third toothed wheel (15) integrally mounted to the outer end of said first arm (3) co-axial with said second axis (b) and a fourth toothed wheel (17) located at the outer end of the second arm (4), co-axial with said third rotation axis (c) of the third arm (5) and integral therewith, the second transmission means comprising a second non-slip drive linkage connected between the third and fourth toothed wheels (15,

         17);

    a fifth toothed wheel (18) located at the inner end of said third arm (5), co-axial with said third axis (c) and integral with the outer end of the second arm (4); and

    a sixth toothed wheel (20) located at the outer end of the third arm (5), coaxial with an axis defined by said support means (30), the third transmission means comprising a third non-slip linkage connected between the fifth and sixth toothed wheels, the respective transmission ratios of said first, second and third transmission means (13, 16,

         19) being respectively τ

    1, τ

    2 and τ

    3, where τ

    1, τ

    2 and τ

    3 are defined as the ratio between the toothed wheels connected by the respective first, second and third transmission means.

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