Three Degree of Freedom Parallel Mechanical Linkage (ARC-14066)

Abstract:
The NASA Ames Research Center has developed an innovative mechanical linkage for robot manipulators and hand-controllers that enables backdrivable force and motion capability in three degrees-of-freedom over a large volume workspace. Unlike most prior robot or hand controller mechanisms, this three degree-of-freedom capability is accomplished in the Ames device using only rigid links and rotary joints, without resorting to compliance-, friction-, or backlash-prone cable, belt, gear, or lead screw transmission elements. In addition, this mechanical linkage does not need to carry or move the weight and inertia of any of its actuators. This mechanism is composed solely of rigid link members and a minimal number of rotary joints. The linkage does not require any other mechanical transmission elements such as belts, cables, gears, or screw drives and their consequent undesirable friction, backlash and compliance. The linkage has the high structural stiffness typically associated with parallel kinematic configurations, while still maintaining a large reachable workspace. Because all of its motors can be mounted to a common base plate or ground, the linkage's inertia and moving weight are reduced, thereby increasing the amount of controllable force and power available for useful work at the device's end-effector.

Type of Offer: Licensing



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