Handle Assembly Providing Unlimited Roll
An example roll handle assembly includes a handle body, a roll body, a closure body, and a shuttle body. The roll body is coupled to the handle body and has a rotational degree of freedom about a roll axis relative to the handle body. The roll body is translationally constrained along the roll axis relative to the handle body. The closure body is coupled to the handle body and has one or more degrees of freedom of motion relative to the handle body. The shuttle body is coupled to the roll body and the closure body, and has a translational degree of freedom along the roll axis relative to the roll body. The shuttle body is rotationally constrained about the roll axis relative to the roll body, and has a rotational degree of freedom about the roll axis relative to the closure body.
1 . A roll handle assembly, comprising:
a handle body;
a roll body coupled to said handle body, said roll body having a rotational degree of freedom about a roll axis relative to said handle body and being translationally constrained along said roll axis relative to said handle body;
a closure body coupled to said handle body, said closure body having at least one degree of freedom of motion relative to said handle body; and
a shuttle body coupled to said roll body and coupled to said closure body, said shuttle body having a translational degree of freedom along said roll axis relative to said roll body and being rotationally constrained about said roll axis relative to said roll body, said shuttle body having a rotational degree of freedom about said roll axis relative to said closure body.
2 . The roll handle assembly as set forth in claim 1 , further comprising a rotation resistance force member interacting with said roll body and holding said roll body at selectable rotational positions about said roll axis relative to said handle body.
3 . The roll handle assembly as set forth in claim 2 , wherein said rotation resistance force member is at least one of a friction member, a ratchet, a detent, or a bistable member.
4 . The roll handle assembly as set forth in claim 1 , further comprising an articulation input joint residing adjacent said roll body, said articulation input joint having two articulation degrees of freedom relative to said handle body to effect pitch and yaw motions at said articulation input joint relative to said handle body.
5 . The roll handle assembly as set forth in claim 4 , wherein said articulation input joint comprises an articulation dial coupled to said roll body.
6 . A roll handle assembly, comprising:
a handle assembly comprising:
a handle body;
a roll body coupled to said handle body, said roll body having a rotational degree of freedom about a roll axis relative to said handle body and being translationally constrained along said roll axis relative to said handle body; and
a shuttle body coupled to said roll body, said shuttle body having a translational degree of freedom along said roll axis relative to said roll body and being rotationally constrained about said roll axis relative to said roll body;
a frame; and
an input joint providing a pitch rotation and a yaw rotation between said handle assembly and said frame.
7 . The roll handle assembly as set forth in claim 6 , wherein said handle body and said frame are connected together via said input joint.
8 . The roll handle assembly as set forth in claim 6 , wherein said handle assembly further comprises a closure body coupled to said handle body and having at least one degree of freedom of motion relative to said handle body, said shuttle body coupled to said closure body and having a rotational degree of freedom about said roll axis relative to said closure body.
9 . The roll handle assembly as set forth in claim 8 , further comprising a shaft extending from said frame, and comprising an end-effector at a distal end of said shaft so that rotation of said roll body about said roll axis relative to said handle body effects rotation of said end-effector relative to said handle body.
10 . The roll handle assembly as set forth in claim 9 , further comprising an output joint residing between said shaft and said end-effector, said pitch motion path transmitting pitch motion of said handle assembly relative to said frame to said output joint, and said yaw motion path transmitting yaw motion of said handle assembly relative to said frame to said output joint.
11 . The roll handle assembly as set forth in claim 10 , wherein said handle body and said frame are connected together via said input joint.
12 . The roll handle assembly as set forth in claim 11 , wherein said input joint constrains rotation between said handle body and said frame, rotation of said roll body about said roll axis relative to said handle body effects rotation of said end-effector about a second roll axis relative to said handle body for any pitch rotation and yaw rotation of said input joint.