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:
May. 02, 1995
Filed:
Jun. 03, 1993
William B Cushman, Pensacola, FL (US);
Other;
Abstract
A telescoping robot arm with singularity-free three degrees of motion freedom spherical joints is disclosed. The telescoping section and spherical joints are hydraulically operated to achieve a high power-to-weight ratio and use conventional seals of the type normally used on hydraulic pistons. The spherical joints of the instant invention are comprised of a generally spherical cavity containing a tiltable member with integral a retractable arcuate vanes interdigitized with retractable arcuate vanes in a non-tiltable member. A plurality of cavities is formed within the spaces between the interdigitized arcuate vanes of the instant invention, with the volume of these intervane cavities being controlled with an equal plurality of hydraulic valves. A plurality of spherical joints of the present invention may be interconnected with double acting telescoping sections of the present invention to form a robotic arm assembly. The telescoping sections are double acting and contain splines or similar structures to prevent rotation while allowing controllable extension and retraction. A combination of two spherical joints and one telescoping section of the instant invention make a singularity free robot arm with seven degrees of motion freedom.