초록 ▼

The invention includes linkage assemblies comprising coupled links with metallic contact surfaces with improved stiffness. The inventors found significant mechanical problems with all previous descriptions of metallic contact links sufficient to preclude their commercial use. These metallic contact

The invention includes linkage assemblies comprising coupled links with metallic contact surfaces with improved stiffness. The inventors found significant mechanical problems with all previous descriptions of metallic contact links sufficient to preclude their commercial use. These metallic contact links are a significant improvement over existing plastic ball and metal joint, or all plastic beads as found in the prior art. The invention includes methods providing these links and high friction couplings between them, as well as the linkage assemblies and flexible arms resulting from these processes.

대표청구항 ▼

1. A flexible arm linkage apparatus provided with a tensioning cable, comprising:a first link forming a first contact surface composed of a first contact material and approximating a partial convex surface supporting said tensioning cable passing through said first contact surface; a second link for

1. A flexible arm linkage apparatus provided with a tensioning cable, comprising:a first link forming a first contact surface composed of a first contact material and approximating a partial convex surface supporting said tensioning cable passing through said first contact surface; a second link forming a second contact surface composed of a second contact material and approximating a partial concave surface supporting said tensioning cable passing through said second contact surface; and a high friction coupling between said first link and said second link is created by said first contact surface contacting said second contact surface when induced by said tensioning cable; wherein said first contact material is distinct from said second contact material; wherein each of said first contact material and said second contact material is primarily composed of a respective metallic compound; wherein said first contact surface composed of said first contact material contacting said second contact surface composed of said second contact material has a friction coefficient greater than each member of the collection comprising: a friction coefficient value of 0.3; said first contact surface composed of said first contact material contacting said second contact surface composed of said first contact material; and said first contact surface composed of said second contact material contacting said second contact surface composed of said second contact material, wherein said first link further forms a third contact surface composed of a third contact material and approximating a second partial concave surface supporting said tensioning cable passing through said third contact surface; wherein said apparatus is further comprised of a third link forming a fourth contact surface composed of a fourth contact material and approximating a second partial convex surface supporting said tensioning cable passing through said fourth contact surface; and a second high friction coupling between said first link and said third link is created by said third contact surface contacting said fourth contact surface when induced by said tensioning cable; wherein each of said third and said fourth contact material is primarily composed of a respective metallic compound. 2. The apparatus of claim 1,wherein each of said respective metallic compounds is primarily composed of at least one alloy containing at least one member of the collection comprising: iron, copper, and titanium. 3. The apparatus of claim 2,wherein each of said respective metallic compounds is primarily composed of an alloy belonging to the collection comprising: stainless steel, titanium, and nitinol. 4. The apparatus of claim 1,wherein said first link is composed primarily of said first contact material. 5. The apparatus of claim 4,wherein said second link is composed primarily of said second contact material. 6. The apparatus of claim 1,wherein said first contact surface composed of said first contact material contacting said second contact surface composed of said second contact material has said friction coefficient greater than said friction coefficient value of 0.35. 7. The apparatus of claim 6,wherein said first contact surface composed of said first contact material contacting said second contact surface composed of said second contact material has said friction coefficient greater than said friction coefficient value of 0.375. 8. The apparatus of claim 7,wherein said first contact surface composed of said first contact material contacting said second contact surface composed of said second contact material has said friction coefficient greater than said friction coefficient value of 0.3875. 9. The apparatus of claim 1,wherein said second link is composed primarily of said second contact material. 10. The apparatus of claim 1,wherein said first contact surface contacting said second contact surface when induced by said tensioning cable further provides a maximal static friction combined with a maximal kinetic friction between said first link and said second link. 11. The apparatus of claim 1,wherein said third contact material is distinct from said fourth contact material; wherein said third contact surface composed of said third contact material contacting said fourth contact surface composed of said fourth contact material has a higher friction coefficient than each member of the collection comprising: said third contact surface composed of said third contact material contacting said fourth contact surface composed of said third contact material; and said third contact surface composed of said fourth contact material contacting said fourth contact surface composed of said fourth contact material. 12. The apparatus of claim 1,wherein said third contact material is essentially said first contact material. 13. The apparatus of claim 12,wherein said fourth contact material is essentially said second contact material. 14. The apparatus of claim 1,wherein said partial concave surface is distinct from said second partial concave surface. 15. The apparatus of claim 1,wherein said first contact surface essentially borders said third contact surface. 16. The apparatus of claim 1,wherein said first link includes said first contact surface coupled to said third contact surface by a hollow rod supporting said tensioning cable traversing through said first contact surface and through said third contact surface. 17. A method of making a flexible arm linkage assembly with a tensioning cable, comprising the steps of:providing a first link forming a first contact surface composed of a first contact material and approximating a partial convex surface supporting said tensioning cable passing through said first contact surface; providing a second link forming a second contact surface composed of a second contact material and approximating a partial concave surface supporting said tensioning cable passing through said second contact surface; and said tensioning cable inducing a contact between said first contact surface and said second contact surface to create a high friction coupling between said first link and said second link; wherein said first contact material is distinct from said second contact material; wherein each of said first contact material and said second contact material is primarily composed of a respective metallic compound; wherein said first contact surface composed of said first contact material contacting said second contact surface composed of said second contact material has a friction coefficient greater than each member of the collection comprising: a friction coefficient value of 0.3; said first contact surface composed of said first contact material contacting said second contact surface composed of said first contact material; and said first contact surface composed of said second contact material contacting said second contact surface composed of said second contact material, wherein said first link further forms a third contact surface composed of a third contact material; wherein said method is further comprised of the steps of: providing a third link forming a fourth contact surface composed of a fourth contact material and approximating a second partial convex surface supporting said tensioning cable passing through said fourth contact surface; and said tensioning cable inducing a second high friction coupling between said first link and said third link by said third contact surface contacting said fourth contact surface when induced by said tensioning cable; wherein each of said third contact material and said fourth contact material is primarily composed of a respective metallic compound. 18. The method of claim 17,wherein each of said respective metallic compounds is primarily composed of at least one alloy containing at least one member of the collection comprising: iron, copper, and titanium. 19. The method of claim 18,wherein each of said respective metallic compounds is primarily composed of an alloy belonging to the collection comprising: stainless steel, titanium, and nitinol. 20. The method of claim 17,wherein said first link is composed primarily of said first contact material. 21. The method of claim 20,wherein said second link is composed primarily of said second contact material. 22. The method of claim 17,wherein said first contact surface composed of said first contact material contacting said second contact surface composed of said second contact material has said friction coefficient greater than said friction coefficient value of 0.35. 23. The method of claim 22,wherein said first contact surface composed of said first contact material contacting said second contact surface composed of said second contact material has said friction coefficient greater than said friction coefficient value of 0.375. 24. The method of claim 23,wherein said first contact surface composed of said first contact material contacting said second contact surface composed of said second contact material has said friction coefficient greater than said friction coefficient value of 0.3875. 25. The method of claim 17,wherein said second link is composed primarily of said second contact material. 26. The method of claim 17,wherein the step of said tensioning cable inducing contact between said first contact surface and said second contact surface is further comprised of the steps of said tensioning cable inducing contact between said first contact surface and said second contact surface providing a maximal static friction combined with a maximal kinetic friction between said first link and said second link. 27. The method of claim 17,wherein said third contact material is distinct from said fourth contact material; wherein said third contact surface composed of said third contact material contacting said fourth contact surface composed of said fourth contact material has a higher friction coefficient than each member of the collection comprising: said third contact surface composed of said third contact material contacting said fourth contact surface composed of said third contact material; and said third contact surface composed of said fourth contact material contacting said fourth contact surface composed of said fourth contact material. 28. The method of claim 17,wherein said third contact material is essentially said first contact material. 29. The method of claim 28,wherein said fourth contact material is essentially said second contact material. 30. The method of claim 17,wherein said partial concave surface is distinct from said second partial concave surface. 31. The method of claim 17,wherein said partial convex surface is distinct from said second partial convex surface. 32. The method of claim 17,wherein said partial convex surface further approximates a hemisphere supporting said tensioning cable passing through said first contact surface. 33. The method of claim 17,wherein said partial concave surface further approximates a partial cone supporting said tensioning cable passing through said second contact surface. 34. Said flexible arm linkage assembly as a product of the method of claim 17.35. A method of making a flexible arm, comprising the steps of claim 17, providing a flexible arm linkage assembly.36. Said flexible arm as a product of the process of claim 35.37. A flexible arm linkage apparatus provided with a tensioning cable, comprising:a first link forming a first contact surface composed of a first contact material and approximating a first partial convex surface supporting said tensioning cable passing through said first contact surface; a second link forming a second contact surface composed of a second contact material and approximating a first partial concave surface supporting said tensioning cable passing through said second contact surface; and a high friction coupling between said first link and said second link is created by said first contact surface contacting said second contact surface when induced by said tensioning cable; wherein each of said first contact material and said second contact material is primarily composed of a respective metallic compound; wherein said first contact surface contacting said second contact surface when induced by said tensioning cable further provides a maximal static friction combined with a maximal kinetic friction between said first link and said second link through a contact region; wherein said contact region is smaller than a maximal contact region obtained from altering at least one member of the collection comprising said first contact surface and said second contact surface; and wherein said first contact surface composed of said first contact material contacting said second contact surface composed of said second contact material has a friction coefficient greater than a friction coefficient value of 0.3, wherein said first link further forms a third contact surface composed of a third contact material and approximating a second partial concave surface supporting said tensioning cable passing through said third contact surface; wherein said apparatus is further comprised of a third link forming a fourth contact surface composed of a fourth contact material and approximating a second partial convex surface supporting said tensioning cable passing through said fourth contact surface; and a second high friction coupling between said first link and said third link is created by said third contact surface contacting said fourth contact surface when induced by said tensioning cable; wherein each of said third and said fourth contact material is primarily composed of a respective metallic compound. 38. The apparatus of claim 37,wherein each of said respective metallic compounds is primarily composed of at least one alloy containing at least one member of the collection comprising: iron, copper, and titanium. 39. The apparatus of claim 38,wherein each of said respective metallic compounds is primarily composed of an alloy belonging to the collection comprising: stainless steel, titanium, and nitinol. 40. The apparatus of claim 37,wherein said first link is composed primarily of said first contact material. 41. The apparatus of claim 40,wherein said second link is composed primarily of said second contact material. 42. The apparatus of claim 37,wherein said first contact surface composed of said first contact material contacting said second contact surface composed of said second contact material has said friction coefficient greater than said friction coefficient value of 0.35. 43. The apparatus of claim 42,wherein said first contact surface composed of said first contact material contacting said second contact surface composed of said second contact material has said friction coefficient greater than said friction coefficient value of 0.375. 44. The apparatus of claim 43,wherein said first contact surface composed of said first contact material contacting said second contact surface composed of said second contact material has said friction coefficient greater than said friction coefficient value of 0.3875. 45. The apparatus of claim 37,wherein said second link is composed primarily of said second contact material. 46. The apparatus of claim 37,wherein said third contact surface contacting said fourth contact surface when induced by said tensioning cable further provides a second maximal static friction combined with a second maximal kinetic friction between said first link and said third link through a second contact region; and wherein said second contact region is smaller than a second maximal contact region obtained from altering at least one member of the collection comprising said third contact surface and said fourth contact surface. 47. The apparatus of claim 46,wherein said third contact material is essentially said first contact material. 48. The apparatus of claim 47,wherein said fourth contact material is essentially said second contact material. 49. The apparatus of claim 46,wherein said partial convex surface is distinct from said second partial convex surface. 50. The apparatus of claim 37,wherein said first partial concave surface is distinct from said second partial concave surface. 51. The apparatus of claim 37,wherein said first contact surface essentially borders said third contact surface. 52. The apparatus of claim 37,wherein said first link includes said first contact surface coupled to said third contact surface by a hollow rod supporting said tensioning cable traversing through said first contact surface and through said third contact surface. 53. The apparatus of claim 37,wherein said first contact material is distinct from said second contact material. 54. The apparatus of claim 53,wherein said first contact surface composed of said first contact material contacting said second contact surface composed of said second contact material has a higher friction coefficient than each member of the collection comprising: said first contact surface composed of said first contact material contacting said second contact surface composed of said first contact material; and said first contact surface composed of said second contact material contacting said second contact surface composed of said second contact material. 55. The apparatus of claim 37,wherein said partial convex surface further approximates a hemisphere supporting said tensioning cable passing through said first contact surface. 56. The apparatus of claim 37,wherein said partial concave surface further approximates a partial cone supporting said tensioning cable passing through said second contact surface. 57. A method of making a flexible arm linkage assembly provided with a tensioning cable, comprising the steps of:providing a first link forming a first contact surface composed of a first contact material and approximating a first partial convex surface supporting said tensioning cable passing through said first contact surface; providing a second link forming a second contact surface composed of a second contact material and approximating a first partial concave surface supporting said tensioning cable passing through said second contact surface; and said tensioning cable inducing a high friction coupling between said first link and said second link by said first contact surface contacting said second contact surface; wherein the step of said tensioning cable inducing said high friction coupling is further comprised of the step: said first contact surface contacting said second contact surface when induced by said tensioning cable providing a maximal static friction combined with a maximal kinetic friction between said first link and said second link through a contact region; wherein each of said first contact material and said second contact material is primarily composed of a respective metallic compound; wherein said contact region is smaller than a maximal contact region obtained from altering at least one member of the collection comprising said first contact surface and said second contact surface; and wherein said first contact surface composed of said first contact material contacting said second contact surface composed of said second contact material has a friction coefficient greater than a friction coefficient value of 0.3, wherein said first link further forms a third contact surface composed of a third contact material and approximating a second partial concave surface supporting said tensioning cable passing through said third contact surface; wherein said method is further comprised of the steps of: providing a third link forming a fourth contact surface composed of a fourth contact material and approximating a second partial convex surface supporting said tensioning cable passing through said fourth contact surface; and said tensioning cable inducing a second high friction coupling between said first link and said third link by said third contact surface contacting said fourth contact surface; wherein each of said third and said fourth contact material is primarily composed of a respective metallic compound. 58. The method of claim 57,wherein each of said respective metallic compounds is primarily composed of at least one alloy containing at least one member of the collection comprising: iron, copper, and titanium. 59. The method of claim 58,wherein each of said respective metallic compounds is primarily composed of an alloy belonging to the collection comprising: stainless steel, titanium, and nitinol. 60. The method of claim 57,wherein said first link is composed primarily of said first contact material. 61. The method of claim 60,wherein said second link is composed primarily of said second contact material. 62. The method of claim 57,wherein said first contact surface composed of said first contact material contacting said second contact surface composed of said second contact material has said friction coefficient greater than said friction coefficient value of 0.35. 63. The method of claim 62,wherein said first contact surface composed of said first contact material contacting said second contact surface composed of said second contact material has said friction coefficient greater than said friction coefficient value of 0.375. 64. The method of claim 63,wherein said first contact surface composed of said first contact material contacting said second contact surface composed of said second contact material has said friction coefficient greater than said friction coefficient value of 0.3875. 65. The method of claim 57,wherein said second link is composed primarily of said second contact material. 66. The method of claim 57,wherein the step of said tensioning cable inducing said second high friction coupling is further comprised of the step: said third contact surface contacting said fourth contact surface when induced by said tensioning cable providing a second maximal static friction combined with a second maximal kinetic friction between said first link and said third link through a second contact region; and wherein said second contact region is smaller than a second maximal contact region obtained from altering at least one member of the collection comprising said third contact surface and said fourth contact surface. 67. The method of claim 66,wherein said third contact material is essentially said first contact material. 68. The method of claim 67,wherein said fourth contact material is essentially said second contact material. 69. The method of claim 57,wherein said first partial concave surface is distinct from said second partial concave surface. 70. The method of claim 57,wherein said first contact surface essentially borders said third contact surface. 71. The method of claim 57,wherein said first link includes said first contact surface coupled to said third contact surface by a hollow rod supporting said tensioning cable traversing through said first contact surface and through said third contact surface. 72. The method of claim 57,wherein said first partial convex surface is distinct from said second partial convex surface. 73. The method of claim 57,wherein said first contact material is distinct from said second contact material. 74. The method of claim 73,wherein said first contact surface composed of said first contact material contacting said second contact surface composed of said second contact material has a higher friction coefficient than each member of the collection comprising: said first contact surface composed of said first contact material contacting said second contact surface composed of said first contact material; and said first contact surface composed of said second contact material contacting said second contact surface composed of said second contact material. 75. The method of claim 57,wherein said partial convex surface further approximates a hemisphere supporting said tensioning cable passing through said first contact surface. 76. The method of claim 57,wherein said first partial concave surface further approximates a partial cone supporting said tensioning cable passing through said second contact surface. 77. Said flexible arm linkage assembly as a product of the method of claim 57.78. A method of making a flexible arm, comprising the steps of claim 57 providing a flexible arm linkage assembly.79. Said flexible arm as a product of the process of claim 78.