US Patent 9579786 Spherical coordinates manipulating mechanism
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Patent abstract
A spherical coordinates manipulating mechanism for improving the utility of U.S. Pat. No. 8,579,714 B2 is provided. Four inner and outer arc-links are pivotally connected to the inner and outer frame respectively so as to carry out a three degrees-of-freedom steering motion. At least one effector arc-link set is selectively connected to the inner or outer frame so that the spherical coordinates manipulating mechanism can directly output force or torque.
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Patent Inventor Names
Shu-Ching Lin0
Wen-Der Trui0
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US Patent 09579786 Spherical coordinates manipulating mechanism US Patent 9579786 Spherical coordinates manipulating mechanism
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Patent Number
09579786
Patent Number
9579786
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US Patent 09579786 Spherical coordinates manipulating mechanism
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Is a
Patent jurisdiction
Patent number
09579786
Date of patent
February 28, 2017
Patent application number
14493414
Date Filed
September 23, 2014
Patent primary examiner
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