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:
Aug. 05, 2003
Filed:
Aug. 31, 2001
Applicant:
Inventors:
Mark H. Yim, Palo Alto, CA (US);
David G. Duff, Woodside, CA (US);
Assignee:
Xerox Corporation, Stamford, CT (US);
Attorney:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
G05B 1/101 ;
U.S. Cl.
CPC ...
G05B 1/101 ;
Abstract
A controllable ratcheting apparatus having robotic modules rigidly attached for operation near a mechanical singularity includes a plurality of modular joints and ratcheting means. Each one of the modular joints is capable of locking and unlocking to effect performance of a ratcheting motion as the ratcheting apparatus approaches a mechanical singularity. A plurality of links is connected to the modular joints in such a way as to permit movement of the links while under large external forces as the joint approaches a point of mechanical singularity. A control system directs movement of the modular joints and links.