Six-degree-of-freedom parallel minimanipulator with three inextensible limbs,申请号US19920915567-传众专利搜索

Six-degree-of-freedom parallel minimanipulator with three inextensible limbs

申请公布号：US5279176(A)

申请号：US19920915567

申请日期：1992.07.20

申请公布日期：1994.01.18

申请人：

THE UNITED STATES OF AMERICA AS REPRESENTED BY THE ADMINISTRATOR OF THE NATIONAL AERONAUTICS AND SPACE ADMINISTRATION

发明人：TAHMASEBI, FARHAD;TSAI, LUNG-WEN

分类号：B25J9/10;B25J17/02;G05G9/047;(IPC1-7):G05G11/00;B25J11/00

主分类号：B25J9/10

摘要：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.