Compact Spherical 3-DOF Mechanism Constructed With Scissor Linkages

Miguel Nobre Castro (Opfinder), John Rasmussen (Opfinder), Michael Skipper Andersen (Opfinder), Shaoping Bai (Opfinder)

Publikation: Patent


The novel compact spherical joint uses spatial scissor mechanism based linkages, allowing for the design of very compact linkages and joints. The mechanism is characterized by:
• Scalability and Compactness of the joint minimizing the need for space around a center of motion, and the
• High degree-of-freedom to design the joint to fit a specific purpose ( including the size of a person, when used in exoskeletons), compared
to other known joints, as the curvature and size of individual linkages can be optimized for the required movement, securing
• High degree of control and precision, and enabling full range of motion, with three degrees of freedom
StatusUdgivet - 2019


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