Articulated mechanism for linear compliance
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United States of America Patent
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Apr 21, 2020
Grant Date -
Apr 20, 2017
app pub date -
Oct 3, 2016
filing date -
Oct 19, 2015
priority date (Note) -
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Abstract
An articulated compliance mechanism for use with a support structure includes a carriage and a pair of parallel four-bar linkage arrangements. The arrangements collectively have a first set of links configured to rigidly connect to the support structure, a second set of links rotatably coupled to the carriage a distance from the first set of links, and a third set of links rotatably coupled to and spanning the distance. The compliance mechanism supports and provides the carriage, e.g., a rectangular shaped frame, with a stable equilibrium point using a gravitational restoring force, and provides the carriage with a passive translational degree of freedom along a horizontal axis in response to an input force from an operator. An additional compliance mechanism may be serially connected to provide a passive translational degree of freedom along a vertical axis. A system includes the compliance mechanism and support structure.
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