Apparatus for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm

Abstract

An apparatus for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm including a first frame and a second frame, a first shaft rotatably connected to the first frame and arranged for rotation about a first axis of rotation, a lever having a fulcrum, wherein the fulcrum is arranged within the second frame and arranged for pivoting about a second axis of rotation, wherein the second axis of rotation is co-planar with the first axis of rotation, wherein the second frame is rotatably connected to the first frame, the second frame arranged for rotation with respect to the first frame about a third axis of rotation, wherein the third axis of rotation is arranged perpendicularly and spaced apart from the first axis of rotation, wherein the first, second, and third axes have single point of intersection.

What is claimed is: 
     
         1 . An apparatus for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm, comprising:
 a first frame;   a second frame;
 a first shaft rotatably connected to said first frame and arranged for rotation about a first axis of rotation; 
 a heim joint fixedly secured to a distal end of said first shaft; 
 a lever having a fulcrum, said lever having a first end and a second end, where a distance between said fulcrum and said first end is less than a distance between said fulcrum and said second end, said first end of said lever rotatably connected to said heim joint; 
 wherein said fulcrum is arranged within said second frame and arranged for pivoting about a second axis of rotation, wherein said second axis of rotation is co-planar with said first axis of rotation, 
 wherein said second frame is rotatably connected to said first frame, said second frame arranged for rotation with respect to said first frame about a third axis of rotation, wherein said third axis of rotation is arranged perpendicularly and spaced apart from said first axis of rotation, 
 wherein said first, second, and third axes have single point of intersection. 
   
     
     
         2 . The apparatus for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm recited in  claim 1 , further comprising a third frame rotatably connected to said first frame, wherein said third frame is rotatably connected to said first frame, said third frame arranged for rotation with respect to said first frame about a fourth axis of rotation, wherein said fourth axis of rotation is arranged perpendicularly and spaced apart from said first axis of rotation. 
     
     
         3 . The apparatus for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm recited in  claim 2 , further comprising a fourth frame pivotably connected to said third frame, wherein said fourth frame arranged for rotation with respect to said third frame about a fifth axis of rotation, wherein said fifth axis of rotation is arranged perpendicularly from said fourth axis of rotation, wherein said fifth axis is co-planar with said first axis of rotation. 
     
     
         4 . The apparatus for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm recited in  claim 3 , wherein said first, fourth, and fifth axes of rotation have a single point of intersection. 
     
     
         5 . The apparatus for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm recited in  claim 4 , further comprising a second shaft rotatably connected to said fourth frame and arranged for rotation about a sixth axis of rotation. 
     
     
         6 . The apparatus for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm recited in  claim 5 , wherein said first, fourth, fifth, and sixth axes of rotation have a single point of intersection. 
     
     
         7 . The apparatus for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm recited in  claim 5 , wherein said second shaft is pivotably connected to said first shaft. 
     
     
         8 . The apparatus for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm recited in  claim 7 , wherein said first shaft is connected to said second shaft via a universal joint. 
     
     
         9 . An apparatus for translating movement of a rotating shaft to rotational movement in three dimensions of a lever arm, comprising:
 a first frame;   a second frame rotatably connected to said first frame;   a third frame rotatably connected to said first frame;   a fourth frame rotatably connected to said third frame;
 a first shaft rotatably connected to said first frame and arranged for rotation about a first axis of rotation; 
 a heim joint fixedly secured to a distal end of said first shaft; 
 a lever having a fulcrum, said lever having a first end and a second end, where a distance between said fulcrum and said first end is less than a distance between said fulcrum and said second end, said first end of said lever rotatably connected to said heim joint, wherein said fulcrum is arranged within said second frame and is arranged for pivoting about a second axis of rotation, wherein said second axis of rotation is co-planar with said first axis of rotation, wherein said second frame is rotatably connected to said first frame, said second frame is arranged for rotation with respect to said first frame about a third axis of rotation, wherein said third axis of rotation is arranged perpendicularly and spaced apart from said first axis of rotation, wherein said first, second, and third axes have single point of intersection; 
 a second shaft rotatably connected to said fourth frame and rotatably connected to said first shaft via a universal joint, said third frame arranged for rotation with respect to said first frame about a fourth axis of rotation, wherein said fourth axis of rotation is arranged perpendicularly and spaced apart from said first axis of rotation, wherein said fourth frame is arranged for rotation with respect to said third frame about a fifth axis of rotation, wherein said fifth axis of rotation is arranged perpendicularly from said fourth axis of rotation, wherein said fifth axis is co-planar with said first axis of rotation, wherein said second shaft is arranged for rotation about a sixth axis of rotation, wherein said first, fourth, fifth, and sixth axes of rotation have a single point of intersection. 
   
     
     
         10 . A walking machine having apparatuses for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm:
 a plurality of apparatuses for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm, each apparatus comprises:
 a first frame arranged to hold a drive shaft, 
 a second frame rotatably connected to said first frame, said second frame arranged to pivotably hold a follower arm; 
 an extension secured to said drive shaft, said follower arm rotatably connected to said extension at a first end; said drive shaft connected to a gear; and, 
 a leg having a foot, said leg connected to said follower arm at a second end, 
   wherein a first at least three apparatuses are connected via a cross member secured to said first frame;   wherein a second at least three apparatuses are connected via a cross member secured to said first frame; said second at least three apparatuses are reflectively arranged across from said first at least three apparatuses; and,   wherein said first at least three apparatuses cross member and said second at least three apparatuses cross member are connected via a merging member.   
     
     
         11 . The walking machine having apparatuses for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm recited in  claim 10 , wherein each of said gears of said first at least three circular angular rotation levers are engaged to a chain, and wherein each of said gears of said second at least three circular angular rotation levers are engaged to a chain. 
     
     
         12 . The walking machine having apparatuses for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm recited in  claim 11 , wherein one of said gears of said first at least three circular angular rotation levers is engaged to a shaft, said shaft driven by a motor, and wherein one of said gears of said second at least three circular angular rotation levers is engaged to said shaft, said shaft driven by said motor.