Six-degree-of-freedom parallel "minimanipulator" with three inex

Details Six-degree-of-freedom parallel "minimanipulator" with three inex Six-degree-of-freedom parallel "minimanipulator" with three inex

1992-07-20

1994-01-18

Braun, Leslie A.

Machine element or mechanism

Control lever and linkage systems

Multiple controlling elements for single controlled element

74479PF, 901 14, 901 19, G05G 1100, B25J 1100

Patent

active

052791769

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:
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patent: 4437635 (1984-03-01), Pham
patent: 4522555 (1985-06-01), Inoue et al.
patent: 4651589 (1987-03-01), Lambert
patent: 4762016 (1988-08-01), Stoughton et al.
patent: 4811608 (1989-03-01), Hilton
patent: 4828453 (1989-05-01), Martin et al.
patent: 4975856 (1990-12-01), Vold et al.
patent: 4976582 (1990-12-01), Clavel
"Design and Analysis of a New Six-Degree-of-Freedom Parallel Minimaipulator", Aug. 20, 1991, Lung-Wen Tsai and Farhad Tahmasebi, pp. 568-575.

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