Parallel mechanism with kinematically redundant actuation
AssigneeUniversite Laval
InventorClement Gosselin
Life of this patent
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Abstract
A parallel mechanism comprises legs with kinematically redundant actuation for a parallel mechanism. Each of these legs comprises a first sub-leg and a second sub-leg each with a proximal end and a distal end. A link has a proximal end and a distal end. A joint with a rotational degree of freedom (DOF) is between and common to the distal ends of the sub-legs, and the proximal end of the link. A joint provides two or more rotational DOFs at the distal end of the link and connects the distal end of the link to one end of the parallel mechanism. Joints in the sub-legs provide DOFs to the sub-legs and connect the proximal ends of the sub-legs to the other end of the parallel mechanism. A degree of actuation (DOA) is provided for each of the sub-legs to control movement of the link.
Claims11
A leg with kinematically redundant actuation for a parallel mechanism comprising:
- a first sub-leg and a second sub-leg, each said sub-leg comprising a proximal end and a distal end;
- a link having a proximal end and a distal end, the link lying in a link plane;
- a revolute joint having a joint axis and being between and common to the distal ends of each of the first sub-leg and the second sub-leg, and the proximal end of the link, the joint axis projecting out of the link plane;
- at least one joint providing at least two rotational degrees of freedom (DOFs) at the distal end of the link and adapted to connect the distal end of the link to one end of the parallel mechanism, said at least one joint providing at least two rotational DOFs having a center lying in said link plane, said center being separated from the joint axis by a length;
- joints in the first sub-leg and the second sub-leg to provide DOFs to the sub-legs, with at least one of said joints in each of the first sub-leg and the second sub-leg connecting the proximal end of a respective one of the sub-legs to another end of the parallel mechanism;
- and
- at least one degree of actuation (DOA) for each of the first sub-leg and the second sub-leg to control movement of the link.
A leg with kinematically redundant actuation for a parallel mechanism comprising:
- a first sub-leg and a second sub-leg, each said sub-leg comprising a proximal end and a distal end;
- a link having a proximal end and a distal end, the link lying in a link plane;
- a revolute joint having a joint axis and being between and common to the distal ends of each of the first sub-leg and the second sub-leg, and the proximal end of the link, the joint axis projecting out of the link plane;
- at least one joint providing at least two rotational degrees of freedom (DOFs) at the distal end of the link and adapted to connect the distal end of the link to one end of the parallel mechanism, said at least one joint providing at least two rotational DOFs, the one joint having a center point lying in said link plane, said center point being separated from the joint axis by a length;
- joints in the first sub-leg and the second sub-leg to provide DOFs to the sub-legs, with at least one of said joints in each of the first sub-leg and the second sub-leg connecting the proximal end of a respective one of the sub-legs to another end of the parallel mechanism;
- and
- at least one degree of actuation (DOA) for each of the first sub-leg and the second sub-leg to control movement of the link.
Dependencies are inferred from the claim text.