DEVICES, SYSTEMS AND METHODS FOR CONTROLLING CABLE DRIVE MECHANISMS
DEVICES, SYSTEMS AND METHODS FOR CONTROLLING CABLE DRIVE MECHANISMS
- New search for: LAMBRECHT BRAM GILBERT ANTOON
- New search for: COOPER THOMAS G
- New search for: WATERBURY ANDREW CULLEN
- New search for: LAMBRECHT BRAM GILBERT ANTOON
- New search for: COOPER THOMAS G
- New search for: WATERBURY ANDREW CULLEN
A cable-driven device, such as a joint or instrument of a computer-assisted manipulator system, may comprise a capstan mechanism to wind/unwind cables. The capstan mechanism comprises a capstan that has a groove in an outer surface of the capstan to guide the cables, which are routed from a take-up pulley, to spool onto the capstan as the capstan rotates. A guide element is engaged with the groove. The guide element is held translationally stationary relative to the take-up pulley, while there is relative translation between the capstan and both the guide element and the take-up pulley. Thus, as the capstan rotates, the guide element engages with the groove and forces the capstan and the take-up pulley to translate relative to one another. This relative translation of the capstan and the take-up pulley may prevent deviation of a take-up angle of the cable as the cable spools onto the capstan.
Document information
DEVICES, SYSTEMS AND METHODS FOR CONTROLLING CABLE DRIVE MECHANISMS
VORRICHTUNGEN, SYSTEME UND VERFAHREN ZUR STEUERUNG VON KABELANTRIEBSMECHANISMEN
DISPOSITIFS, SYSTÈMES ET PROCÉDÉS DE COMMANDE DE MÉCANISMES À COMMANDE PAR CÂBLE
2024-01-17
Patent
Electronic Resource
English
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