| 摘要 |
A computer or remote controlled end effector articulating mechanism provides accurate and independent seven axis actuation of an operator such as a tool, platform, sensor, biological specimen or other object such as a workpiece. The object(s) or operator(s) may be mounted on end effector element 7 which is linearly translated 9 along axis 5 and rotated 2 about the same axis by conventional computer or remotely controlled linear actuator and rotator mounted on or within element 11. Element 11 is in turn linked to a further mechanism comprised of pivot axes 13, 15, 21, 23, 25, 45 and 47 connected to linkage elements 17, 19, 22 and 43. These linkages are connected to a rotatable axle 29. Orthogonal rotary motion is imparted to these linkages by mechanism 30 comprised of 27, 29, 31, 33, 35, 37, 39, 41, 43, 51, 53, 55, 57, and 59. The orthogonal rotary motion imparted by mechanism 30 actuates 11 hence element 7 to move about orthogonal spherical coordinate paths 4 and 6 centered at point 1, the intersection of axis 5 and axis 3. Linear actuation is further imparted on the intercept point 1 by orthogonally arranged serially connected linear translators 61, 63, and 65, a fixed to stationary fixture 67. Thus, there is totally independent x, y, z translation of a three-axis spherical coordinate articulated mechanism with an added twist about the spherical coordinate radius vector.
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