US 2012/0168593 A1Published application

Kinematic platform

AssigneeKing Fahd University of Petroleum and Minerals

InventorsSAMIR MEKID, AZFAR KHALID

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Abstract

The kinematic platform is a spherical-prismatic-spherical kinematic platform providing six degrees of freedom with controlled braking at each joint. The kinematic platform includes a base and an upper platform plate, with the upper platform plate having opposed upper and lower surfaces. The upper surface thereof provides a mounting surface for an external article to which controlled three-dimensional movement is to be imparted. A plurality of linear actuators are further provided, with each linear actuator having opposed upper and lower ends. A plurality of upper and lower spherical joints are provided for pivotally mounting the linear actuators between the upper platform plate and a lower base. Each spherical joint provides selective and controllable braking, allowing for the controlled rotation of each end of each linear actuator with respect to the respective upper platform plate or base.

Claims18

Dependent claims

A kinematic platform, comprising:

a base having opposed upper and lower surfaces, the lower surface being adapted for mounting on a support surface;
an upper platform plate having opposed upper and lower surfaces;
a plurality of linear actuators, each of the linear actuators having opposed upper and lower ends and a prismatic joint between the upper and lower ends;
means for selectively actuating each of the linear actuators;
a plurality of upper spherical joints pivotally connecting the upper ends of the linear actuators to the lower surface of the upper platform plate;
a plurality of lower spherical joints pivotally connecting the lower ends of the linear actuators to the upper surface of the base, each of the upper and lower spherical joints having:
a joint housing having an open interior region and at least one open end;
at least one electromagnet disposed within the open interior region of the joint housing;
a spherical joint member positioned against the at least one electromagnet;
and
at least one cover member securing at least a portion of the spherical joint member within the joint housing so that the spherical joint member frictionally engages the at least one electromagnet;
and
means for selectively braking pivoting of the spherical joints;
whereby the at least one electromagnet may be braked to selectively control the degree of magnetic attraction between the spherical joint member and the electromagnet to selectively control rotational freedom of the spherical joint member with respect to the at least one electromagnet and the joint housing.

11 more elements

A kinematic platform, comprising:

a base having opposed upper and lower surfaces, the lower surface being adapted for mounting on a support surface;
an upper platform plate having opposed upper and lower surfaces;
a plurality of linear actuators, each of the linear actuators having opposed upper and lower ends and a prismatic joint between the upper and lower ends;
means for selectively actuating each of the linear actuators;
a plurality of upper spherical joints pivotally connecting the upper ends of the linear actuators to the lower surface of the upper platform plate;
a plurality of lower spherical joints pivotally connecting the lower ends of the linear actuators to the upper surface of the base, each of the upper and lower spherical joints having:
an outer spherical retaining shell having an outer wall and an internal wall, the retaining shell defining an aperture;
at least one internal spherical sectioned member disposed inside the outer retaining shell, the at least one sectioned member being in contact with the internal wall of the outer retaining shell;
an actuator having at least one piston, the at least one piston being secured to the at least one internal spherical sectioned member, whereby the respective end of the respective linear actuator is mounted to the actuator and extends through the shell aperture;
and
a third internal spherical sectioned member attached to the actuator;
and
a controller connected to the actuator for selectively controlling movement of the actuator to vary friction between the at least one spherical section and the internal wall of the spherical retaining shell, thereby selectively braking and alternately allowing rotational motion of the at least one internal spherical section and the elongate member relative to the outer spherical retaining shell.

10 more elements

Dependencies are inferred from the claim text.