Spherical coordinates manipulating mechanism
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United States of America Patent
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Feb 28, 2017
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app pub date -
Sep 23, 2014
filing date -
Sep 26, 2013
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Abstract
A spherical coordinates manipulating mechanism for improving the utility of U.S. Pat. No. 8,579,714 B2 is provided. Four inner and outer arc-links are pivotally connected to the inner and outer frame respectively so as to carry out a three degrees-of-freedom steering motion. At least one effector arc-link set is selectively connected to the inner or outer frame so that the spherical coordinates manipulating mechanism can directly output force or torque.
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