Simplified and symmetrical five-bar linkage driver for manipulat

Details Simplified and symmetrical five-bar linkage driver for manipulat Simplified and symmetrical five-bar linkage driver for manipulat

1993-08-20

1994-04-12

Braun, Leslie A.

Machine element or mechanism

Control lever and linkage systems

Multiple controlling elements for single controlled element

74469, 74479PP, 901 14, 901 19, G05G 1100, B25J 1100

Patent

active

053015665

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.

REFERENCES:
patent: 2027529 (1936-01-01), Hammond, Jr.
patent: 4651589 (1987-03-01), Lambert
patent: 4811608 (1989-03-01), Hilton
patent: 4976582 (1990-12-01), Clavel
Bajpai and Roth, "Workspace and Mobility of a Closed-Loop Manipulator", 1986.

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