Six Degrees of Freedom Micromanipulator.
Patent, Filed 17 Nov 87, patented 11 Apr 89,
DEPARTMENT OF THE AIR FORCE WASHINGTON DC
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A six degree of freedom micromanipulator is disclosed which may be interposed between the fingers and the remainder of a robotic arms structure for increasing the accuracy with which an arms fingers may be positioned independently of the accuracy achievable through motions originating at or near the arms shoulder. Included in the structure are a base plate and yokes drive rods and trunnions drive rod ends and a manipulator plate and yokes. Motor driven push-pull assemblies may be used in place of the elongated drive rods and their associated trunnions to electrically control the position of the manipulator plate. PAT-CL-74-479. jes