专利名称：Mechanisms for orienting and placing
articles
发明人：Vincent Hayward申请号：US08/632497申请日：19960509公开号：US06116844A公开日：20000912
摘要：A mechanism for orienting an end member utilizes paired five- bar linkageswherein two joints on each five-bar linkage may be actuated. Preferably the actuators aremounted at the base-link of the five bar linkages, such base-links being collinearlyaligned. Two or three rotational and one translational degrees of freedom are available.This mechanism in its three or two degrees of rotational freedom variants has
exceptional motion range, free of singularities, superior structural properties, and is easyto manufacture. This orienting mechanism can be mounted as an end member on apositioning mechanism having four main links herein three joints are actuated. Thediagonally oppose joints of the positioning mechanism are respectively spherical andrevolute. This positioning mechanism can operate with two actuators that are groundedand one that is elevated. In all cases sensors may be substituted for, or used inconjunction with, actuators to provide an apparatus useful, interalia, in the teleroboticsand virtual reality fields.
申请人：MCGILL UNIVERSITY,THE CANADIAN SPACE AGENCY
代理人：David J. French
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