| CPC B25J 9/0048 (2013.01) [B25J 9/045 (2013.01); B25J 9/104 (2013.01); F16M 11/123 (2013.01)] | 6 Claims |
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1. A mechanism constituted with spherical concentric geometry to be manipulated for spherical coordinate kinematics, comprising:
a base frame set comprising a base frame including a plurality of brackets and three base rotating modules installed into the base frame, the base frame being configured with three vertexes which can be used to constitute a base geometry triangle, each axis of the base rotating module being individually coincided with a vertex-to-center line of the base geometry triangle, and these three vertex-to-center lines being coincided with the center of the base frame, wherein an angle between any two vertex-to-center lines of the base geometry triangle is greater than 75° and less than 150°, each base rotating module comprising a bored shaft and an inner shaft, the bored shaft comprising an active end and a passive end, the inner shaft comprising an active end and a passive end, wherein the bored shaft is pivotally rotated with the inner shaft;
a terminal frame set comprising a terminal frame including a plurality of brackets and three terminal rotating modules installed into the terminal frame, the terminal frame being configured with three vertexes which can be used to constitute a terminal geometric triangle, each axis of the terminal rotating module being individually coincided with a vertex-to-center line of the terminal geometric triangle, and these three vertex-to-center lines being coincided with the center of the terminal frame, wherein the angle between any two vertex-to-center lines of the terminal geometric triangle is greater than 75° and less than 150°;
three arc-link sets, each arc-link set comprising a base arc-link, a terminal arc-link, and arc-link rotating module, a base pulley, a terminal pulley, a transmission belt and at least one pair of idler pulleys, the base arc-link comprising a base end and a terminal end, the terminal arc-link comprising a base end and a terminal end, the base end of the base arc-link being pivotally rotated with the base end of the terminal arc-link via the arc-link rotating module, the base end of the base arc-link being pivotally fastened onto the passive end of the inner shaft, the terminal end of the terminal arc-link being pivotally rotated along an axis of the terminal rotating module, each axis of the arc-link rotating modules being normally directed into the center of the base frame for concentrically rotating each arc-link set along a specified geometric orbit between the base frame and the terminal frames, wherein the sum of arc-lengths of any two of the base arc-links is greater than or equal to an angle between their corresponding vertex-to-center lines of the base geometry triangle; wherein the sum of arc-lengths of any two of the terminal arc-links is greater than or equal to an angle between their corresponding vertex-to-center lines of the terminal geometric arc, the base pulley being pivotally fastened onto the active end of the bored shaft, the terminal pulley being pivotally fastened onto the base end of the terminal arc-link, the at least one pair of idler pulleys being installed onto both sides of the base arc-link individually, wherein at least one pair of idler pulleys being installed within an outer flange of the base arc-link, both ends of the transmission belt being separately meshed and rotated with the base pulley and the terminal pulley, wherein direction and tension of the transmission belt being functionally adjusted by the at least one pair of idler pulleys, wherein the terminal pulley being synchronously rotated via the transmission belt by the base pulley;
three base driver sets, each base driver set comprising a base driving module, a base active gear and a base passive gear, the base active gear being fastened onto a driving shaft of the base driving module, the base passive gear being pivotally fastened onto the passive end of the bored shaft, a distance between a center of the base active gear and a center of the base passive gear being equal to a sum of reference radii of the base active gear and the base passive gear, wherein the base passive gear meshed with the base active gear being synchronously rotated by the base driving module;
three terminal driver sets, each terminal driver set comprising a terminal driving module, a terminal active gear and a terminal passive gear, the terminal active gear being fastened onto a driving shaft of the terminal driving module, the terminal passive gear being pivotally fastened onto the passive end of the inner shaft, distance between center of the terminal active gear and center of the terminal passive gear is equal to a sum of reference radii of the terminal active gear and the terminal passive gear, wherein the terminal passive gear meshed with the terminal active gear being synchronously rotated by the terminal driving module.
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