Motion system with plurality of stewart platform based actuators
OwnerStephen Glen Swift, Michael Peter McCrodan +2inventors
InventorsStephen Glen Swift, Michael Peter McCrodan, Siamak Arzanpour, Sohell Sadeqi
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Abstract
Examples of a motion system are disclosed. The motion system comprises a plurality of Stewart platform based actuators connected one to each another forming a desired modular configuration. Each of the plurality of actuators is controlled by a central controller that is configured to independently control the plurality actuators and adjust in real time their position, orientation and motion trajectory. The plurality of actuators are arranged in the desired configuration, shape and size to provide motion system that can mimic a natural motion/gait of human or animal body.
Claims26
A motion system comprising:
- a plurality of Stewart platform based actuators connected one to each another forming a desired modular configuration, each of the plurality of Stewart platform actuators comprising a plurality of kinematic legs, an upper plate, a base plate and at least one driver in communication with the plurality of kinematic legs, the plurality of the kinematic legs being pivotally connected to the base plate and the upper plate extending therein between, the at least one driver configured to independently drive each of the plurality of kinematic legs to change length and orientation of the legs such that a position of one of the plates moves within six degrees of freedom relative to the other plate;
- at least one damper linking element positioned and connecting at least two neighboring actuators;
- and
- a central controller having an input unit, a processing unit and an output unit and being in communication with the at least one driver of each of the plurality of actuators to independently control length, orientation and speed of each of the plurality of kinematic legs of each of the plurality of actuators to adjust in real time their position, orientation and motion trajectory.
A motion system comprising:
- a plurality of Stewart platform based actuators connected one to each another forming a desired modular configuration, each of the plurality of Stewart platform actuators comprising a plurality of kinematic legs, an upper plate, a base plate and at least one driver in communication with the plurality of kinematic legs, the plurality of the kinematic legs being pivotally connected to the base plate and the upper plate extending therein between, the at least one driver configured to independently drive each of the plurality of kinematic legs to change length and orientation of the legs such that a position of one of the plates moves within six degrees of freedom relative to the other plate;
- a reinforcing damper rotatably connected to the upper plate and the base plate of at least one of the actuator to adjust the stiffness of such actuator;
- and
- a central controller having an input unit, a processing unit and an output unit and being in communication with the at least one driver of each of the plurality of actuators to independently control length, orientation and speed of each of the plurality of kinematic legs of each of the plurality of actuators to adjust in real time their position, orientation and motion trajectory.
Dependencies are inferred from the claim text.