24-axis orientation mechanism

A mechanism geometrically constituted by twenty-four concentric axes is manipulated for spherical coordinate kinematics, including:

• a U-frame set comprising a U-frame and eight U-plates, the U-frame including a plurality of brackets and being geometrically defined by eight U-octahedron faces, each U-octahedron face being normal onto a U-normal vector which is converged at a center of the U-frame, wherein an angle between any two U-normal vectors is greater than 60° and less than 120°, the eight U-plates which are respectively normal onto the eight U-normal vectors being mounted with the U-frame to construct the U-frame set;
• a V-frame set comprising a V-frame and eight V-plates, the V-frame including a plurality of brackets and being geometrically defined by eight V-octahedron faces, each V-octahedron face being normal onto a V-normal vector which is converged at a center of the V-frame, wherein an angle between any two V-normal vectors is greater than 60° and less than 120°, the eight V-plates which are respectively normal onto the eight V-normal vectors being mounted with the V-frame to construct the V-frame set;
• eight U-arc-link sets, each U-arc-link set comprising a U-axle pair, at least one U-drive-gear pair, at least one U-drive-module, a U-slave-gear pair and a U-arc-link, each U-axle pair including a U-bearing and a U-axle, the U-bearing being mounted onto a corresponding U-plate, both ends of the U-axle being a frame-end and link-end, wherein the U-axle through the U-bearing coincides with a respective U-normal vector of the U-plate and points into a center of the U-frame set, each U-drive-gear pair including a U-drive-bearing and a U-drive-gear, the U-drive-bearing being mounted onto the corresponding U-plate, a shaft of the U-drive-module through the U-drive-bearing being pivotally fastened onto the U-drive-gear, each U-slave-gear pair including a U-slave-bearing and a U-slave-gear, the U-slave-bearing being mounted onto the U-slave-gear, the U-axle through the U-gear bearing being pivotally fastened with the U-slave-gear, the U-slave-gear meshed with the U-drive-gear and being synchronously rotated by the U-drive-module, wherein a distance between both centers of the U-drive-gear and the U-slave-gear is equal to a sum of reference radii of the U-drive-gear and U-slave-gear, both ends of the U-arc-link being a frame-end and link-end, the frame-end of the U-arc-link being pivotally fastened onto the U-slave-gear;
• eight V-arc-link sets, each V-arc-link set comprising a V-axle pair, a W-axle pair, a W-rotate-module and a V-arc-link, each V-axle pair including a V-bearing and a V-axle, the V-bearing being mounted onto a corresponding V-plate, both ends of the V-axle being a frame-end and link-end, wherein the V-axle through the V-bearing coincides with a respective V-normal vector of the V-plate and points into a center of the V-frame set, each W-axle pair including a W-bearing and a W-axle, the W-bearing being mounted onto the link-end of a respective U-arc-link, both ends of the W-axle being a U-end and V-end, the W-axle being directed through the W-bearing, the V-end of the W-axle being pivotally fastened onto the link-end of the V-arc-link, a shaft of the W-rotate-module being pivotally fastened onto the U-end of the W-axle, both ends of the V-arc-link being a frame-end and a link-end, the frame-end of the V-arc-link being pivotally fastened onto the link-end of the V-axle;
• and eight transmit sets, each transmit set comprising at least one W-drive-gear pair, at least one W-drive-module, a W-slave-gear pair and a conveyor set, each W-drive-gear pair including a W-drive-bearing and a W-drive-gear, the W-drive-bearing being mounted onto the corresponding U-plate, a shaft of the W-drive-module through the W-drive-bearing being pivotally fastened onto the W-drive-gear, each W-slave-gear pair including a W-slave-bearing and a W-slave-gear, the W-slave-bearing through the U-axle being mounted onto the W-slave-gear, the W-slave-gear being inserted between the U-slave-gear and the corresponding U-plate, the W-slave-gear meshed with the W-drive-gear and being synchronously rotated by the W-drive-module, wherein a distance between both centers of the W-drive-gear and the W-slave-gear is equal to a sum of reference radii of the W-drive-gear and the W-slave-gear, each conveyor set including a W-drive-pulley, a W-slave-pulley, a W-convey-belt and at least one pair of W-idlers, the W-drive-pulley being pivotally fastened onto the link-end of a respective U-axle, the W-slave-pulley being pivotally fastened onto the V-end of a respective W-axle, both sides of the W-convey-belt being synchronously meshed and conveyed with the W-drive-pulley and the W-slave-pulley, each pair of W-idlers being respectively installed onto both sides and rolled within an outer flange of a respective U-arc-link.