Abstract: A two degree-of-freedom positioning and manipulating apparatus is provided. The apparatus includes a first driven member rotatable about a first driven axis, a first driver member coupled to a first driven member for rotating the first driven member about the first driven axis, and a link member fixedly connected to the first driven member. The apparatus further includes a second driven member rotatably mounted to the link member for rotating about a second driven axis, with the second driven axis generally parallel to the first driven axis, and a second driver member coupled at a drive point to the second driven member for rotating the second driven member about the second driven axis. The drive point is generally coincident with the first driven axis.

Abstract: A two degree-of-freedom positioning and manipulating apparatus is provided. The apparatus includes a first driven member rotatable about a first driven axis, a first driver member coupled to a first driven member for rotating the first driven member about the first driven axis, and a link member fixedly connected to the first driven member. The apparatus further includes a second driven member rotatably mounted to the link member for rotating about a second driven axis, with the second driven axis generally parallel to the first driven axis, and a second driver member coupled at a drive point to the second driven member for rotating the second driven member about the second driven axis. The drive point is generally coincident with the first driven axis.

Abstract: A three degree-of-freedom robotic manipulator is constructed from three rotary drives. The rotary drive consists of a relatively small diameter cylindrical driving member coupled to a larger diameter cylindrical driven member. The driven member of a second rotary drive is mounted perpendicularly to the driven member of a first drive. The driven member of a third drive is mounted to the periphery of the driven member of the second drive with its axis of rotation parallel to the driven member of the second drive. The driving member of the third drive is located with its axis of rotation coincident with the axis of rotation of the driven member of the second drive. Motors powering the second and third driving members are mounted to the driven member of the first drive roughly centered over its axis of rotation. An extension arm for mounting the end effector is fixed to the driven member of the third drive. This arrangement reduces the number of required components and minimizes motor movement to reduce inertia.

Abstract: A two degree-of-freedom robot manipulator is constructed from two rotary drives of prior invention. Each rotary drive consists of a relatively small diameter cylindrical driving member and a relatively larvae diameter cylindrical driven member coupled by a cable system. The driving member of rotary drive 2 is positioned with its axis of rotation coincident with the axis of rotation of the driven member of rotary drive 1. The driven member of drive 2 is rotatably mounted to the driven member of drive 1 to realize the required relative positioning of the driving and driven members of drive 2. The driving members of both rotary drives are mounted in a fixed reference frame. Coordinated control of the driving members allows two axis dynamic control of a tool apparatus mounted to the second driven member.