Spherical coordinates manipulating mechanism for inner frame pivotal configuration

Abstract

A spherical coordinates manipulating mechanism for inner frame pivotal configuration. There are total twelve axles in the mechanism for pivoting with four outer rotating members, four arc-link rotating members and four inner rotating members individually, and each axle of these rotating members is specifically directed into the center of the outer frame for concentrically rotating each arc-link set along a specified geometric orbit between the outer frame and inner frame. Therefore, the final output torque can be integrated via serial linking and parallel cooperating with the twelve axles. The mechanism can be equipped with single effector arc-link set or with double effector arc-link sets. In this divisional application. There are three embodiments for sufficiently introducing the spherical coordinates manipulating mechanism for inner frame pivotal configuration.

What is claimed is: 
     
         1 . A spherical coordinates manipulating mechanism for inner frame pivotal configuration, comprising:
 an outer frame assembly comprising an outer frame including a plurality of brackets and four outer rotating members installed into the outer frame, the outer frame being configured with four vertexes which can be used to constitute an outer geometric tetrahedron, each axle of the outer rotating member being individually coincided with a vertex-to-center line of the outer geometric tetrahedron, and these four vertex-to-center lines being coincided with the center of the outer frame;   an inner frame assembly comprising an inner frame including a plurality of brackets and four inner rotating members installed into the inner frame, the inner frame being configured with four vertexes which can be used to constitute an inner geometric tetrahedron, each axle of the inner rotating member being individually coincided with a vertex-to-center line of the inner geometric tetrahedron, and these four vertex-to-center lines being coincided with the center of the inner frame;   four arc-link sets, each arc-link set comprising an outer arc-link, an inner arc-link and an arc-link rotating member, an end of the outer arc-link being pivotally connected with an end of the inner arc-link through an axle of arc-link rotating member, the other end of the outer arc-link being pivotally connected with an axle of the outer rotating member, and the other end of the inner arc-link being pivotally connected with an axle of the inner rotating member, each axle of the arc-link rotating members being normally directed into the center of the outer frame for concentrically rotating each arc-link set along specified geometric orbit between the outer frame and the inner frames, wherein sum of arc-lengths of any two of the outer arc-links is greater than or equal to an angle between their corresponding vertex-to-center lines of the outer geometric tetrahedron; wherein sum of arc-lengths of any two of the inner arc-links is greater than or equal to an angle between their corresponding vertex-to-center lines of the inner geometric tetrahedron;   the at least one effector arc-link set comprising an effector arc-link, about an effector rotating member and an end effector, an end of the effector arc-link is mounted an end effector which is radially extended opposite side relative to the inner frame, the other end of the effector arc-link is pivoted through an axle of inner rotating member and installed into the effector rotating member opposite side relative to the inner frame, and the effector arc-link can be concentrically rotated along a geometric orbit between the outer arc-link and the outer frame, wherein the arc-length of the effector arc-link is greater than 30° but less than 90°.   
     
     
         2 . The mechanism according to  claim 1 , wherein the inner frame can be designed as closed-loop structure or open-loop structure, wherein the outer frame can be designed as open-loop structure or closed-loop structure. 
     
     
         3 . The mechanism according to  claim 1 , wherein the outer rotating member can be a torque output device or an angle sensor or a bearing with an axle, the arc-link rotating member can be assembled by a torque output device and/or an angle sensor or a bearing with an axle, the inner rotating member can be a torque output device or an angle sensor or a bearing with an axle, the effector rotating member is a torque output device or a device for fastening rotational member. 
     
     
         4 . The mechanism according to  claim 1 , wherein the outer frame assembly further comprising an outer support disposed on the outer frame, and an outer carrier disposed on the outer support, wherein the inner frame assembly further comprising an inner support disposed on the inner frame, and an inner carrier disposed on the inner support.