Randall SULLIVAN;Peter F. COSTA;Brian Douglas LAROSE;Christopher K. HOLMES;James Michael LICHT;Shorya AWTAR;Deepak SHARMA;Bruce JOHNSON;Zachary ZIMMERMAN
发明人:
James Michael LICHT,Shorya AWTAR,Deepak SHARMA,Zachary ZIMMERMAN,Bruce JOHNSON,Christopher K. HOLMES,Peter F. COSTA,Brian Douglas LAROSE,Randall SULLIVAN
申请号：
US15286489
公开号：
US20170095922A1
申请日:
2016.10.05
申请国别(地区):
US
年份:
2017
代理人:
摘要：
An articulating joint comprising a multi-cluster joint where every consecutive pair of links is interfaced by a gimbal, which offers rotation about two orthogonal axes within the same plane. Thus, the articulating joint comprises an alternating sequence of links and gimbals. Furthermore, there may be multiple cables attached to one or more of the links. As these cables are selectively pulled and released, one can achieve any desired articulation of the articulating joint. There may be a transmission member extending through the links and gimbals, parallel to the central longitudinal axis of the joint in its nominal non-articulated condition. This transmission member may be either a tension member that is pulled on (e.g. a cable or flexible pull rod) and that loads the articulating joint in compression, or the transmission member may be a flexible push rod that loads the articulating joint in tension.
