WRIST TENDON ACTUATOR |
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| 申请号 | PCT/US1987000061 | 申请日 | 1987-01-20 | 公开(公告)号 | WO1987004540A1 | 公开(公告)日 | 1987-07-30 |
| 申请人 | ROSHEIM, Mark, E.; | 发明人 | |||||
| 摘要 | The wrist actuator or joint (10) includes a ball (20) having two grooves (22, 24) in its surface, each groove extending circumferentially about the ball and disposed approximately 90 from each other. A housing (40) has a socket for receiving the ball and includes two slots (41, 42) located proximately at an equatorial plane of the ball. A frame (32) is secured to the ball at the intersection of the grooves opposite the housing. A first ribbon (52), slidable within the first groove (22), is attached to pivot pins (56, 58) in the slots and is looped aroud a first pulley (70) within the frame. A second ribbon (54), slidable within the second groove (24), is attached to pivot pins (60, 62) mounted in the housing at the approximate midpoints between the slots and is looped around a second pulley (74) within the frame. An output shaft (45) is connected to the housing. Motors (72, 76) provide selective movement of the drive ribbons. | ||||||
| 权利要求 | |||||||
| 说明书全文 | |||||||
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