Redundant parallel positioning table device
AssigneeHuber Diffraktionstechnik GmbH & Co. KG
InventorGheorghe Olea
Life of this patent
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Abstract
A redundant positioning table device with six or fewer degrees of freedom having four modular legs extended from a base to a table, each legs being with three levels and the same types of joints. In one embodiment, the bottom joint is planar and active, the middle joint is prismatic and passive, and the top joint is spherical and passive. In another embodiment, the bottom joint is prismatic and passive, the middle joint is planar and active, and the top joint is spherical and passive. Fewer than six degrees of freedom is achieved by reducing the number of degrees of freedom of designated joints.
Claims9
A redundant parallel positioning table device Rd-PPT comprising:
- (a) a stationary base B;
- (b) a moving table T with a fixing surface ΣT on which a sample Sp can be mounted;
- and
- (c) at least one set of four supporting legs, one being redundant, symmetrically arranged around the center of the base in opposed pairs, each leg having a base end connected to the stationary base and a table end connected to the moving table;
- (d) each leg being a 123 kinematic chain structure (K) such that the device provides a maximum of six degrees of freedom.
A redundant parallel positioning table device Rd-PPT comprising:
- (a) stationary base B;
- (b) moving table T with a fixing surface ΣT on which a sample Sp can be mounted;
- and
- (c) at least one set of four supporting legs, one being redundant, symmetrically arranged around the center of the base and in opposed pairs, each leg having a base end connected to the stationary base and a table end connected to the moving table;
- (d) each leg being a 123 kinematic chain structure (K) such that at least one axis of the joints of at least one level is constrained, thereby providing fewer than six degrees of freedom.
Dependencies are inferred from the claim text.