Title:
MANIPULATOR DEVICE
Document Type and Number:
WIPO Patent Application WO/2013/021890
Kind Code:
A1
Abstract:
A child unit (30) rotates freely around a first axial center (AX1) relative to a parent unit (10), and a grandchild unit (50) having a manipulator (56) rotates freely around a second axial center (AX2) relative to the child unit (30), the second axial center being orthogonal to the first axial center (AX1). A first rotary volume (32) detects the amount of relative rotation of the parent unit (10) and the child unit (30) around the first axial center (AX1), and a second rotary volume (39) detects the amount of relative rotation of the child unit (30) and the grandchild unit (50) around the second axial center (AX2). Both the first and second rotary volumes (32, 39) are mounted on an electrical circuit substrate (43) of the child unit (30).
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Inventors:
ICHIKI SHUNSUKE (JP)
Application Number:
PCT/JP2012/069568
Publication Date:
February 14, 2013
Filing Date:
August 01, 2012
Export Citation:
Assignee:
YAMAHA CORP (JP)
ICHIKI SHUNSUKE (JP)
ICHIKI SHUNSUKE (JP)
International Classes:
G05G9/047; G06F3/033
Foreign References:
| JP2006095234A | 2006-04-13 | |||
| JP2006131221A | 2006-05-25 | |||
| JPH09135965A | 1997-05-27 | |||
| JPS6384903U | 1988-06-03 | |||
| JPS5379336U | 1978-07-01 | |||
| JPS5025591B1 | 1975-08-25 |
Attorney, Agent or Firm:
PROSPEC PATENT FIRM (JP)
Patent business corporation Pros Peck patent firm (JP)
Patent business corporation Pros Peck patent firm (JP)
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Claims: