Articulated apparatus for telemanipulator system

Abstract

An articulated apparatus is disclosed that includes a first link member, a second link member, and a third link member. The second link member is coupled to the first link member at a proximal end of the second link member by a first joint having a first axis of rotation. The third link member is coupled to a distal end of the second link member by a second joint. The movement of the third link member with respect to the second link member is governed by at least one tendon that passes through the first axis of rotation of the first joint such that movement of the second member with respect to the first member does not cause movement of the third member with respect to the second member.

What is claimed is:  
     
         1 . An articulated apparatus comprising; 
 a plurality of link members each in communication with and rotatably movable with respect to at least one other adjacent link member about an associated joint between the adjacent link members;    said plurality of link members including a first link member that extends in a first direction and is associated with a first joint having an axis of rotation in a second direction that is different than the first direction;    and a second link member that extends in a third direction and is associated with a second joint having an axis of rotation in a fourth direction that is substantially coplanar with the third direction.    
     
     
         2 . An articulated apparatus as set forth in  claim 1  further comprising a base portion including a drive assembly for controlling the movement of each of the link members with respect to other link members about the joints via tendons that control the rotational movement of the link members about the joints responsive to the drive assembly.  
     
     
         3 . An articulated apparatus as set forth in  claim 2  wherein at least some of the tendons extend through at least some of the joints including the first and second joints such that the movement of the link members about the joints through which the tendons extend, does not cause significant attendant movement of the tendons extending through other joints.  
     
     
         4 . An articulated apparatus as set forth in  claim 1  comprising a base portion including a drive assembly of a plurality of motors for controlling actions at the joints.  
     
     
         5 . An articulated apparatus as set forth in  claim 4  wherein all motors for controlling the link members are disposed remote from the link members.  
     
     
         6 . An articulated apparatus as set forth in  claim 5  wherein cables extend from motors in the base up to the joints to control movement of the joints.  
     
     
         7 . An articulated apparatus comprising; 
 a plurality of link members each in communication with and rotatably movable with respect to at least one other adjacent link member about an associated joint between the adjacent link members;    said plurality of link members including a first link member that extends in a first direction and is associated with a first joint having an axis of rotation in a second direction that is different than the first direction;    a second link member that extends in a third direction and is associated with a second joint having an axis of rotation in a fourth direction; and    a base portion including a drive assembly for controlling the movement of each of the link members;    said drive assembly including a plurality of motors for controlling motions of the link members, the majority of said motors being disposed remote from and off of any moving link members.    
     
     
         8 . An articulated apparatus as set forth in  claim 7  wherein cables extend from motors in the base up to the joints to control movement of the joints and thereby movement of the link members.