Simplified and symmetrical five-bar linkage driver for manipulating a Six-Degree-of-Freedom Parallel "minimanipulator" with three inextensible limbs
First Claim
Patent Images
1. A six-degree-of-freedom parallel manipulator comprising:
- three inextensible limbs each having a first end and a second end;
each of said inextensible limbs moveably attached at said first end to a platform at non-collinear points on said platform; and
three simplified five-bar linkage planar driver means affixed to a base member and moveably attached to each said second end of said inextensible limbs for providing planar movement to each said second end of each said inextensible limb thereby providing manipulation of said platform;
each said simplified five-bar linkage planar driver means having two coaxial rotary actuators as driving means for each said five-bar linkage planar driver means.
0 Assignments
0 Petitions
Accused Products
Abstract
A Six-Degree-of-Freedom Parallel-Manipulator having three inextensible limbs for manipulating a platform is described in which the three inextensible limbs are attached via universal joints to the platform at non-collinear points. Each of the inextensible limbs is also attached via universal joints to a two-degree-of-freedom parallel driver such as a five-bar lineage, a pantograph, or a bidirectional linear stepper motor. The drivers move the lower ends of the limbs parallel to a fixed base and thereby provide manipulation of the platform. The actuators are mounted on the fixed base without using any power transmission devices such as gears or belts.
56 Citations
10 Claims
-
1. A six-degree-of-freedom parallel manipulator comprising:
-
three inextensible limbs each having a first end and a second end; each of said inextensible limbs moveably attached at said first end to a platform at non-collinear points on said platform; and three simplified five-bar linkage planar driver means affixed to a base member and moveably attached to each said second end of said inextensible limbs for providing planar movement to each said second end of each said inextensible limb thereby providing manipulation of said platform; each said simplified five-bar linkage planar driver means having two coaxial rotary actuators as driving means for each said five-bar linkage planar driver means. - View Dependent Claims (2, 3, 4, 5, 6)
-
-
7. A simplified five-bar linkage for manipulating robotic limbs comprising:
-
a first rotary actuator having a first link connected thereto at one end of said first link; a second rotary actuator having a second link connected thereto at one end of said second link; a third link connected at one end to the other end of said first link; a fourth link connected at one end to the other end of said second link; said third and fourth links connected at their ends not connected to said first and second links thereby forming an output point; said first and second rotary actuators being coaxial. - View Dependent Claims (8, 9, 10)
-
Specification