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Multi-dimensional positioning of an object

  • US 9,048,779 B2
  • Filed: 04/19/2013
  • Issued: 06/02/2015
  • Est. Priority Date: 04/19/2013
  • Status: Active Grant
First Claim
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1. An apparatus for positioning and moving an object, comprising:

  • a structure that establishes a number of vertices which define an empty two-dimensional (2D) space having the shape of a convex polygon, said number being greater than or equal to three;

    the same number of line guiding devices, each of which is disposed at the location of a different one of the vertices;

    the same number of line displacement actuators; and

    the same number of connecting lines, wherein,one end of each of the connecting lines is attached to a different one of the line displacement actuators,each of the connecting lines is reeved to a different one of the line guiding devices,the other end of each of the connecting lines is attached to the object,each of the line displacement actuators is selectively operated to displace the connecting line that is attached thereto in a controlled manner in order to achieve a desired positioning or movement of the object within the 2D space, andeach of the line displacement actuators maintains a prescribed amount of tension on the connecting line that is attached thereto when said line is being displaced, and when the displacement of said line is fixed, and whereinthe line displacement actuators operate under the centralized control of an actuator controller which coordinates the operation of said actuators to achieve the desired positioning or movement of the obiect,each of the line displacement actuators comprises a motor and a tension controlling mechanism,the motor is configured to drive the connecting line that is attached to the line displacement actuator in a controlled manner in order to achieve a desired displacement of said line,the motor operates in a variety of modes comprising a line retraction mode which retracts said line a desired amount when an appropriate control signal is received from the actuator controller, an extension mode which extends said line another desired amount when another appropriate control signal is received from the actuator controller, and a steady state mode which prevents said line from being displaced, andthe tension controlling mechanism is configured to maintain the prescribed amount of tension on said line when the motor is operating in the variety of modes.

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