# US 10,864,626 B2 · Parallel mechanism with six degrees of freedom having arc-shaped prismatic pairs in three branches

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- Number: US 10,864,626 B2
- Document ID: US10864626B2
- Status: Granted
- Kind: B2
- Application number: 16/472,200
- Filed: 2017-03-29
- Published: 2020-06-18
- Granted: 2020-12-15
- Earliest claimed: 2017-03-29
- Assignees: Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences
- Applicants: Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences
- Inventors: Guoru Zhao; Yongfeng Wang
- Web page: https://patentgrep.com/patent/US10864626B2

## CPC

- B25J 9/0051: {with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators}
- B25J 9/0072: {of the hybrid type, i.e. having different kinematics chains}
- B25J 9/0045: {with kinematics chains having a rotary joint at the base}
- B25J 9/0009: {Constructional details, e.g. manipulator supports, bases}
- B25J 9/0033: {with kinematics chains having a prismatic joint at the base}
- B25J 9/0069: {with kinematics chains of the type universal-prismatic-universal}
- B25J 9/08: characterised by modular constructions
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})

## Abstract

Disclosed is a three-branched six-degree-of-freedom parallel mechanism with curved sliding pairs, which includes a base, a moving platform, and three identical kinetic branches. The kinetic branches are radially and evenly distributed and arranged between the base and the moving platform. Each kinetic branch includes a first curved link assembly, a first motor, and a support link. One end of the support link is hinged to the moving platform. One end of the first curved link assembly is hinged to the support link. The first motor is disposed on the base and is configured for driving the first curved link assembly to rotate, where an arc length of the first curved link assembly is changed as the first curved link assembly is driven to rotate.

## Claims

### Claim 1

A three-branched six-degree-of-freedom parallel mechanism with curved sliding pairs, comprising a base, a moving platform, and three identical kinetic branches, wherein the kinetic branches are radially and evenly distributed and arranged between the base and the moving platform, wherein each of the kinetic branches comprises a first curved link assembly, a first motor, and a support link, wherein the support link comprises one end hinged to the moving platform, the first curved link assembly comprises one end hinged to the support link, and the first motor is disposed on the base and is configured for driving the first curved link assembly to rotate, wherein an arc length of the first curved link assembly is changed as the first curved link assembly is driven to rotate;
wherein each of the kinetic branches further comprises a second curved link assembly and a second motor, wherein one end of the first curved link assembly and one end of the second curved link assembly are hinged to different positions of the support link along a length of the support link, wherein the second motor is disposed on the base and is configured for driving the second curved link assembly to rotate, and where an arc length of the second curved link assembly is changed as the second curved link assembly is driven to rotate.

### Claim 2 (depends on 1)

The three-branched six-degree-of-freedom parallel mechanism of claim 1, wherein the first curved link assembly and the second curved link assembly each comprise an upper curved link, a lower curved link, and a universal hinge, wherein the universal hinge connects an upper end of the upper curved link to the support link, a lower end of the upper curved link is nested-connected to an upper end of the lower curved link, and a lower end of the lower curved link is connected to an output shaft of the corresponding first motor or second motor.

### Claim 3 (depends on 2)

The three-branched six-degree-of-freedom parallel mechanism of claim 2, wherein the lower curved link comprises a curved portion and a straight portion that are connected to each other, wherein a lower end of the straight portion is connected to the output shaft of the corresponding first motor or second motor, the curved portion has a hollow tubular structure, and the upper curved link is nested into the lower curved link.

### Claim 4 (depends on 1)

The three-branched six-degree-of-freedom parallel mechanism of claim 1, wherein each of the kinetic branches further comprises a first motor stand and a second motor stand that are disposed on the base, wherein the first motor and the second motor are disposed on the first motor stand and the second motor stand, respectively.

### Claim 5 (depends on 1)

The three-branched six-degree-of-freedom parallel mechanism of claim 1, wherein the second curved link assembly is hinged to another end of the support link.