US 12,435,755 B2
Method for designing quaternion joint and quaternion joint
Kazutoshi Nishii, Toyota (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Oct. 10, 2023, as Appl. No. 18/378,194.
Claims priority of application No. 2022-169444 (JP), filed on Oct. 21, 2022.
Prior Publication US 2024/0133422 A1, Apr. 25, 2024
Prior Publication US 2024/0229859 A9, Jul. 11, 2024
Int. Cl. F16C 11/06 (2006.01)
CPC F16C 11/0685 (2013.01) 3 Claims
OG exemplary drawing
 
1. A method for designing a quaternion joint comprising a first member and a second member rotatably coupled to the first member through a plurality of links, the method comprising
setting a distance hc between both ends of the link at a start operating angle of the link, a distance wc between ends of the adjacent links, and a distance h0 required to secure a degree of freedom of the end of the link based on a constraint condition in which, regarding an elliptical trajectory drawn by an intersection point of the links in accordance with a rotation of the second member, a distance between a point on the ellipse corresponding to the start operating angle of the link and a point at which a center point of the ellipse is shifted by the distance h0 and a distance between a point on the ellipse corresponding to an end operating angle of the link and a point at which the center point of the ellipse is shifted by the distance h0 are made equal to each other.