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COMPACT SPHERICAL 3-DOF MECHANISM CONSTRUCTED WITH SCISSOR LINKAGES

机译：剪刀链接构造的紧凑球形三自由度机理

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摘要

A curved scissor linkage mechanism (1) includes at least four linkage elements (2) each having a first end (3) and a second end (4). The linkage elements are arranged to form sides of one or more rhombi or parallelograms. Each linkage element is rotationally connected to another linkage elements via a revolute joint (5) at the first end and is rotationally connected to another one of the other linkage elements via another revolute joint at the second end. The linkage elements are configured so that the axes of each joint coincide at one common remote centre of motion. The mechanism is connectable to a first external member (7) at a proximal end and is rotationally connectable to a second external member (9) at an opposite distal end to obtain three DOFs. The scissor linkage mechanism may further include a motion controlling mechanism.

机译：弯曲剪刀式连杆机构（ 1 ）包括至少四个连杆元件（ 2 ），每个连杆元件均具有第一端（ 3 ）和第二端（ 4 ）。连接元件布置成形成一个或多个菱形或平行四边形的侧面。每个联动元件在第一端通过旋转接头（ 5 ）旋转连接到另一个联动元件，并在第二端通过另一个联轴器旋转连接到另一个联动元件中的另一个。连杆元件被构造成使得每个关节的轴线在一个共同的远程运动中心处重合。该机构可在近端连接到第一外部构件（ 7 ），并在相对的远端旋转连接到第二外部构件（ 9 ），以获得三个自由度。剪刀式连杆机构还可包括运动控制机构。 展开▼

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公开/公告号US2020238542A1

专利类型

公开/公告日2020-07-30

原文格式PDF

申请/专利权人 AALBORG UNIVERSITET;
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申请/专利号US201816756779

发明设计人 MIGUEL NOBRE CASTRO;JOHN RASMUSSEN;MICHAEL SKIPPER ANDERSEN;SHAOPING BAI;
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申请日2018-10-17

分类号B25J18;B25J9;F16H21/54;A61H3;A61H1/02;A61B34/30;A61B90/50;

国家 US

入库时间 2022-08-21 11:22:47

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