Pantograph linkage system

• US 4,437,635 A
• Filed: 01/25/1982
• Issued: 03/20/1984
• Est. Priority Date: 01/26/1981
• Status: Expired due to Fees

• Current Assignee: National Research Development Corporation
• Original Assignee: National Research Development Corporation
• Inventors: Pham, Duc T.
• Primary Examiner(s): Foss, J. Franklin
• Assistant Examiner(s): Talbott, David L.
• Application Number:
  US06/342,426
• Time in Patent Office: 785 Days
• Field of Search: 248/280.1, 248/281.1, 248/125, 248/647, 248/123.1, 248/124, 248/421, 248/122, 248/660, 248/652, 248/654, 414/1, 414/4, 414/917, 74/103, 74/105, 74/479
• US Class Current: 248/124.1
• CPC Class Codes: B25J 9/046 Revolute coordinate type
• CPC Class Codes: B25J 9/1065 with parallelograms
• CPC Class Codes: Y10S 414/13 Handlers utilizing parallel links
• CPC Class Codes: Y10T 74/18928 Straight line motions
• CPC Class Codes: Y10T 74/20207 Multiple controlling elements for single controlled element

Abstract

A pantograph linkage system for use in a manipulating tool comprises a pair of pantographs linked together in parallel. Each pantograph consists of a pair of arms held in a fixed relative orientation and the two arms comprise components of parallel linkages. A tool holder appropriately mounted on the free end of the arms can then be moved in all three dimensions without changing its spatial orientation. Simple straightline input movements are all that is required to effect movement of the tool holder.

Claims

1. A manipulator comprising a pair of pantographs interconnected to serve as opposed links of a parallelogram linkage, the pantographs in turn having first and second arms each operative as a parallelogram linkage, means for maintaining interconnections of the parallelogram linkages in fixed relative relationships and means for imparting linear input movement in all three dimensions to the pantographs whereby three dimensional movement of a tool or the like suitably secured to the pantographs may be occasioned whilst maintaining its spatial orientation constant.

3. A manipulator as claimed in claim 1 or 2 in which the means for imparting input movements comprise three stepping motors each operating a screw threaded mechanism to produce movements along mutually orthogonal axes.

2. A manipulator comprising a pair of pantograph linkages, means interconnecting the pantograph linkages in parallel relationship such that the said pantograph linkages constitute opposed links of a parallelogram linkage, each pantograph linkage comprising a first and a second arm, each arm comprising a pair of links operatively interconnected to act as a parallelogram linkage and means for imparting to the pantograph linkages linear input movements in all three dimensions whereby movement of a tool holder suitably secured thereto may be occasioned while maintaining its spatial orientation constant.

4. A manipulator comprising a pair of pantograph linkages, means interconnecting the pantograph linkages in parallel relationship such that the said pantograph linkages constitute opposed links of a parallelogram linkage, each pantograph linkage comprising a first and a second arm, means pivotally interconnecting the arms, each arm comprising a pair of links operatively interconnected to act as a parallelogram linkage, the interconnection adjacent the pivotal interconnection of the arms comprising a bracket serving to maintain the interconnections of the parallel linkages constituting the first and second arms in a fixed relationship, means for mounting a tool holder between the second arms of the pantograph linkages, means for pivotally securing the first arms of the pantograph linkages to a base structure, three means for imparting linear movements to the pantograph linkages being provided in the base structure, the said movement imparting means being arranged to produce movements along mutually orthogonal axes whereby three dimensional movement of the tool holder may be occasioned whilst maintaining its spatial orientation constant.