US 2009/0255363 A1 · PARALLEL MECHANISM

Abstract

A parallel mechanism includes a base, actuators attached to the base, a plurality of arms coupled together in parallel, and a sensing device. Each of the arms has a first link, one end of which is coupled to the actuator, a second link through which the other end of the first link and a bracket are coupled together, a ball joint through which one end of the second link and the other end of the first link are swingably coupled together, and a ball joint through which the other end of the second link and the bracket are swingably coupled together. Each of the ball joints includes a ball stud including a ball-shaped head, a socket swingably holding the ball-shaped head of the ball stud, and a conductive member interposed between the ball-shaped head and the socket. The sensing device senses when at least one of the plurality of ball joints is loose, based on whether or not the ball stud and the socket are electrically continuous with one another.

Claims20

Dependent claims

A parallel mechanism comprising:

a base;
actuators attached to the base;
a plurality of arms coupled together in parallel;
wherein
each of the arms include:
a first link, one end of which is coupled to the actuator;
a second link through which another end of the first link and a bracket are coupled together;
a ball joint through which one end of the second link and the another end of the first link are swingably coupled together;
and
a ball joint through which another end of the second link and the bracket are swingably coupled together;
each of the ball joints have a ball stud including a ball-shaped head, a socket swingably holding the ball-shaped head of the ball stud, and a conductive member interposed between the ball-shaped head and the socket;
and
a sensing device arranged to sense when at least one of the plurality of ball joints is loose, based on whether or not the ball stud and the socket are electrically continuous with each other.

10 more elements

A parallel mechanism comprising:

a plurality of arms coupled together in parallel and each arm including a first link, one end of which is coupled to an actuator attached to a base portion;
a second link through which another end of the first link and a bracket are coupled together;
a ball joint through which one end of the second link and the another end of the first link are swingably coupled together;
and
a ball joint through which another end of the second link and the bracket are swingably coupled together;
wherein
the parallel mechanism includes a sensing device arranged to sense when at least one of the ball joints is loose;
each of the ball joints has a ball stud including a ball-shaped head, a socket swingably holding the ball-shaped head of the ball stud, and an electrically conductive member interposed between the ball-shaped head and the socket;
and
the sensing device is arranged to sense when any of the ball joints is loose, based on whether or not the ball stud and the socket are electrically continuous with one another.

7 more elements

Dependencies are inferred from the claim text.

Parallel mechanism

Life of this patent

Parallel mechanism

Life of this patent

Abstract

Claims20