Title: Articulated master slave manipulator

Abstract: An articulated master slave manipulator has a lower arm pivoted at a main idler pulley at one end of an upper arm, and a counter-balance mass pivoted at an idler pulley at the other end of the upper arm. A coupling system maintains the angle between the axis of the upper arm and the axes defined by the centers of gravity and the respective main pulleys of the counter-balance mass and the lower arm equal. A flexible, non-stretchable cable or so called tape extends from an actuator pulley on the counter-balance mass, around an auxiliary idler pulley on the counter-balance mass, thence around the main idler pulley and an auxiliary pulley on the lower arm to an output pulley on the lower arm. The actuating pulley, auxiliary pulleys, and output pulley are mounted to have a constant distance between their axes and the axes of the respective main idler pulleys.

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Inventors: Flatau, Carl R. (Shoreham, NY, US)

Application Number: 596228
Filing Date: 1975-07-16
Publication_date: 1976-08-24
Assignee:
Primary Class(es): 414/7 74/89.22, 74/96, 294/86.4, 901/21
Other Classes:
US Patent Ref:

2771199	Nov, 1956	Jelatis	214/1.
2774488	Dec, 1956	Goertz et al.	214/1.
3314552	Apr, 1967	Vertut	214/1.
3572807	Mar, 1971	Haaker et al.	214/1.
3664517	May, 1972	Germond et al.	214/1.
3790002	Feb, 1974	Germond et al.	214/1.

Other Refs: 1,394,0291,295,156

Jan, 1965	FR
May, 1969	DT

Primary Examiner: Ward, Jr., Robert S.
Assistant Examiner:
Attorney: Fasse; W. G., Roberts; W. W.