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ROBOTIC MANIPULATOR WITH REMOTE CENTER OF MOTION AND COMPACT DRIVE
ROBOTIC MANIPULATOR WITH REMOTE CENTER OF MOTION AND COMPACT DRIVE
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机译:具有远程运动中心和紧凑型驱动器的机械手
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摘要
A robotic manipulator device includes a robotic linkage to rotate an insertion axis about a remote center of motion with two degrees of freedom. A driven link supports the insertion axis. Rigid links in a parallelogram arrangement constrain the driven link to move in parallel to a drive link and the insertion axis to rotate about the remote center of motion. A drive unit has an output shaft coupled to the drive link. Rotation of an input shaft causes the output shaft to rotate. The input and output shafts are at a substantial angle. A housing supports the output shaft. A first motor causes the input shaft to rotate the output shaft. A second motor causes the housing to rotate, rotating the output shaft about an axis that is substantially parallel to the input shaft and passes through the remote center of motion.
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