The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 02, 2025
Filed:
Apr. 23, 2020
Aalborg Universitet, Aalborg, DK;
Miguel Nobre Castro, Aalborg, DK;
John Rasmussen, Aalborg, DK;
Michael Skipper Andersen, Nørager, DK;
Aalborg Universitet, , DK;
Abstract
The invention relates to a curved spherical scissors linkage mechanism () comprising at least four linkage elements () each having a first end () and a second end (); the linkage elements are arranged to form sides of one rhombus or parallelogram, or a series, such as a network, of joinedor parallelograms. Each of the linkage elements is rotationally connected to one of the other linkage elements via a revolute joint () at or near the first end and is rotationally connected to another one of the other linkage elements via another revolute joint at or near the second end. The linkage elements are shaped, dimensioned and arranged so that the axes of all the revolute joints coincide at one common remote centre of motion (RCM). Furthermore, the mechanism is grounded or connected or connectable to a first external member () at a proximal end and is rotationally connected or connectable to a second external member () at an opposite distal end. Hereby a spherical linkage mechanism with three DOFs is obtained. The spherical scissors linkage mechanism may further comprise a motion controlling mechanism at the proximal and/or at the distal end. It further comprises actuator means as control means.