Direct-drive manipulator for pen-based force display
First Claim
1. A direct drive actuator system responsive to operator manipulation of a control point, comprising:
- an end effector defining a control point accessible to manipulation by an operator within an end effector workspace;
first, second and third kinematic chains coupled in parallel to the end effector in common alignment to the control point to define a redundant actuator structure for allowing motion of the control point within a first plane of the workspace to not more than two degrees of freedom;
the first kinematic chain comprising;
a first actuator, a first inner link and a first outer link, the first actuator fixed relative to the first plane and coupled to the first inner link, the first inner link coupled to the first outer link to define a first joint, the first outer link coupled to the end effector in alignment with the control point;
the second kinematic chain comprising;
a second actuator, a second inner link and a second outer link, the second actuator fixed relative to the first plane and coupled to the second inner link, the second inner link coupled to the second outer link to define a second joint, the second outer link coupled to the end effector in alignment with the control point; and
the third kinematic chain comprising;
a third actuator, a third inner link and a third outer link, the third actuator fixed relative to the first plane and coupled to the third inner link, the third inner link coupled to the third outer link to define a third joint, the third outer link coupled to the end effector in alignment with the control point.
1 Assignment
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Accused Products
Abstract
A pen-based direct-drive manipulator enables precision manipulation and force display of a control point within three degrees of freedom. The control point exhibits substantially no backlash, very low friction and very low inertia making it useful as a force display. The manipulator also has a very high force generation bandwidth allowing high frequency force components to be displayed. A parallel actuator structure controls motion over two degrees of freedom in a horizontal plane. The parallel structure is a redundant structure including three chains in parallel coupled at the control point. The redundant structure provides a uniform force capability throughout the manipulator workspace. A pair of rotational actuators rotate the parallel structure about an axis to approximate a linear motion along a third axis. The rotational actuators provide a third degree of freedom for the control point. Motion about the third axis is substantially decouple from motion about the horizontal plane.
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Citations
14 Claims
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1. A direct drive actuator system responsive to operator manipulation of a control point, comprising:
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an end effector defining a control point accessible to manipulation by an operator within an end effector workspace; first, second and third kinematic chains coupled in parallel to the end effector in common alignment to the control point to define a redundant actuator structure for allowing motion of the control point within a first plane of the workspace to not more than two degrees of freedom; the first kinematic chain comprising;
a first actuator, a first inner link and a first outer link, the first actuator fixed relative to the first plane and coupled to the first inner link, the first inner link coupled to the first outer link to define a first joint, the first outer link coupled to the end effector in alignment with the control point;the second kinematic chain comprising;
a second actuator, a second inner link and a second outer link, the second actuator fixed relative to the first plane and coupled to the second inner link, the second inner link coupled to the second outer link to define a second joint, the second outer link coupled to the end effector in alignment with the control point; andthe third kinematic chain comprising;
a third actuator, a third inner link and a third outer link, the third actuator fixed relative to the first plane and coupled to the third inner link, the third inner link coupled to the third outer link to define a third joint, the third outer link coupled to the end effector in alignment with the control point. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A kinematic system responsive to operator manipulation of a control point, comprising:
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first, second and third kinematic chains each having a respective anchor point and being coupled in parallel at a common joint; an end effector in alignment with the common joint along a line perpendicular to a first plane of motion, the end effector defining a control point accessible to manipulation by an operator to move the control point within an end effector workspace; wherein position of the common joint with respect to each one of the respective anchor points is controlled respectively to define a redundant control structure which allows motion of the control point within the first plane of motion to not more than two degrees of freedom. - View Dependent Claims (9, 10, 11)
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12. A direct drive actuator system responsive to operator manipulation of a control point, comprising:
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a tool being held by an operator; an end effector defining a control point accessible to the tool for manipulation via the tool within an end effector workspace, wherein the tool is free to make contact and discontinue contact with the contact point; first, second and third kinematic chains coupled in parallel to the end effector in common alignment with the control point to define a redundant actuator structure for allowing motion of the control point within a first plane of the workspace to not more than two degrees of freedom; the first kinematic chain comprising;
a first actuator, a first inner link and a first outer link, the first actuator fixed relative to the first plane and coupled to the first inner link, the first inner link coupled to the first outer link to define a first joint, the first outer link coupled to the end effector in alignment with the control point;the second kinematic chain comprising;
a second actuator, a second inner link and a second outer link, the second actuator fixed relative to the first plane and coupled to the second inner link, the second inner link coupled to the second outer link to define a second joint, the second outer link coupled to the end effector in alignment with the control point; andthe third kinematic chain comprising;
a third actuator, a third inner link and a third outer link, the third actuator fixed relative to the first plane and coupled to the third inner link, the third inner link coupled to the third outer link to define a third joint, the third outer link coupled to the end effector in alignment with the control point. - View Dependent Claims (13, 14)
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Specification