SPHERICAL COORDINATES MANIPULATING MECHANISM FOR INNER FRAME PIVOTAL CONFIGURATION
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United States of America Patent
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Feb 27, 2017
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Sep 26, 2013
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Abstract
A spherical coordinates manipulating mechanism for inner frame pivotal configuration. There are total twelve axles in the mechanism for pivoting with four outer rotating members, four arc-link rotating members and four inner rotating members individually, and each axle of these rotating members is specifically directed into the center of the outer frame for concentrically rotating each arc-link set along a specified geometric orbit between the outer frame and inner frame. Therefore, the final output torque can be integrated via serial linking and parallel cooperating with the twelve axles. The mechanism can be equipped with single effector arc-link set or with double effector arc-link sets. In this divisional application. There are three embodiments for sufficiently introducing the spherical coordinates manipulating mechanism for inner frame pivotal configuration.
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