Spherical Motion Mechanism

摘要

This document discusses, among other things, a mechanism for providing motion having two degrees of freedom and centered on a single point within a sphere. Methods to design the mechanism consistent with specified parameters are also described.

主权项

1. A device comprising:
a first link having ends terminated in a base revolute joint and a common revolute joint, the revolute joints having convergent rotational axes and each rotational axis forming an acute angle with a longitudinal axis of the first link, the base revolute joint coupled to a base; a second link coupled to the common revolute joint at a first end, the second link having a second end and the second link in a serial cantilever configuration with the first link, the rotational axis of the common revolute joint forming an acute angle with a longitudinal axis of the second link, wherein the second end of the second link includes a tool holder, the tool holder having a tool axis aligned to pass through a point coincident with an intersection of the convergent rotational axes, the tool axis and the common revolute joint rotational axis subtending a first angle; and the convergent rotational axes subtending a second angle, such that the first angle differs from the second angle, the first and second links and the revolute joints enabling a position of the tool holder to be selectively manipulated.