US 11,890,751 B2
Compact spherical 3-DOF mechanism constructed with scissor linkages
Miguel Nobre Castro, Aalborg (DK); John Rasmussen, Aalborg (DK); Michael Skipper Andersen, Nørager (DK); and Shaoping Bai, Aalborg (DK)
Assigned to Aalborg Universitet, Aalborg (DK)
Appl. No. 16/756,779
Filed by Aalborg Universitet, Aalborg (DK)
PCT Filed Oct. 17, 2018, PCT No. PCT/DK2018/050262
§ 371(c)(1), (2) Date Apr. 16, 2020,
PCT Pub. No. WO2019/076417, PCT Pub. Date Apr. 25, 2019.
Claims priority of application No. PA 2017 70789 (DK), filed on Oct. 17, 2017.
Prior Publication US 2020/0238542 A1, Jul. 30, 2020
Int. Cl. B25J 18/00 (2006.01); A61B 34/30 (2016.01); A61B 90/50 (2016.01); A61H 1/02 (2006.01); A61H 3/00 (2006.01); B25J 9/00 (2006.01); F16H 21/54 (2006.01)
CPC B25J 18/005 (2013.01) [A61B 34/30 (2016.02); A61B 90/50 (2016.02); A61H 1/0281 (2013.01); A61H 3/00 (2013.01); B25J 9/0006 (2013.01); B25J 18/007 (2013.01); F16H 21/54 (2013.01); A61B 2034/305 (2016.02); A61B 2090/506 (2016.02); A61H 2201/1628 (2013.01); A61H 2201/1676 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A curved scissor linkage mechanism, comprising:
at least four linkage elements each having a first end and a second end, the linkage elements being arranged to form sides of at least one rhombus or of at least one parallelogram, wherein
the curved scissor linkage mechanism is extendable between a fully collapsed configuration and a fully extended configuration,
each of the linkage elements
is rotationally connected to at least one of the other linkage elements via a revolute joint at or near the first end and/or at an intermediate point between the first end and the second end, and
is rotationally connected to at least another one of the other linkage elements via another revolute joint at or near the second end and/or at an intermediate point between the first end and the second end, and
the linkage elements are shaped, dimensioned and arranged so that the axes of all said revolute joints coincide at one common remote centre of motion (RCM), so that each of the linkage elements can move on the surface of an imaginary sphere having its centre at the common centre of motion (RCM), and
the curved scissor linkage mechanism is connected to a first external member via the revolute joint between linkage elements arranged at a proximal end of the curved scissor linkage mechanism and is rotationally connected to a second external member via the revolute joint between linkage elements arranged at a distal end of the curved scissor linkage mechanism, the proximal and distal ends being located at opposite ends of the scissor linkage mechanism.