Three-degree-of-freedom parallel planar manipulator
First Claim
1. A three degree of freedom manipulator comprising a base, a pair of off set substantially parallel rotary joints, a crankshaft mounted in said pair of rotary joints, said crankshaft having an interconnecting portion extending between said pair of rotary joints, a pair of joint moving means one to independently move each of said rotary joints in a plane perpendicular to the rotary axes of said joint, said pair of joint moving means each being mounted on said base and said joint moving means each having a drive means mounted on said base for independently and controllably driving each of said joint moving means to independently move each of said rotary joints and wherein each of said drive means comprises a pair of independently driven drivers.
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Abstract
A pair of five-bar mechanisms having their pivotal axes parallel are each mounted at one end to a base and are interconnected at their other ends by a crankshaft to obtain a manipulator generating three degrees of freedom planar motion of an end-effector. Redundant actuation may be used to generate an unlimited rotation range and an extensible link in the crankshaft may be used to provide adjustable torque capabilities during operation.
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Citations
17 Claims
- 1. A three degree of freedom manipulator comprising a base, a pair of off set substantially parallel rotary joints, a crankshaft mounted in said pair of rotary joints, said crankshaft having an interconnecting portion extending between said pair of rotary joints, a pair of joint moving means one to independently move each of said rotary joints in a plane perpendicular to the rotary axes of said joint, said pair of joint moving means each being mounted on said base and said joint moving means each having a drive means mounted on said base for independently and controllably driving each of said joint moving means to independently move each of said rotary joints and wherein each of said drive means comprises a pair of independently driven drivers.
Specification