# US 2014/0150591 A1 · Multi-parallel manipulator system

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- Number: US 2014/0150591 A1
- Document ID: US20140150591A1
- Status: Published application
- Kind: A1
- Application number: 14/088,395
- Filed: 2013-11-23
- Published: 2014-06-05
- Earliest claimed: 2012-12-05
- Inventors: Guk Jin YANG
- Web page: https://patentgrep.com/patent/US20140150591A1

## CPC

- B25J 9/0045: {with kinematics chains having a rotary joint at the base}
- B25J 9/0048: {with kinematics chains of the type rotary-rotary-rotary}
- Y10S 901/23: Electric motor
- Y10T 74/20317: including electric motor
- Y10T 74/20329: Joint between elements
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION

## Abstract

A multi-parallel manipulator system is provided. The multi-parallel manipulator system includes a first parallel manipulator composed of two or more first drive modules and first movable members coupled to ends of the first drive modules, a second parallel manipulator composed of three or more second drive modules and second movable members coupled to ends of the second drive modules, and a fixture module serving as a fixture member configured to couple the first drive modules to the second drive modules. In this case, the first drive modules and the second drive modules may be alternately arranged with each other.

## Claims

### Claim 1

A multi-parallel manipulator system comprising:
a first parallel manipulator composed of two or more first drive modules and first movable members coupled to ends of the first drive modules;
a second parallel manipulator composed of three or more second drive modules and second movable members coupled to ends of the second drive modules; and
a fixture module serving as a fixture member configured to couple the first drive modules to the second drive modules,
wherein the first drive modules and the second drive modules are alternately arranged with each other.

### Claim 2 (depends on 1)

The multi-parallel manipulator system according to claim 1, wherein the numbers of the first drive modules and the second drive modules are less than or equal to 16,
each of the first drive modules comprises:
a first motor device; and
a first robot arm having a joint structure in which one end thereof is coupled to the first motor device and the other end thereof is coupled to the first movable member, and
each of the second drive modules comprises:
a second motor device; and
a second robot arm having a joint structure in which one end thereof is coupled to the second motor device and the other end thereof is coupled to the second movable member.

### Claim 3 (depends on 2)

The multi-parallel manipulator system according to claim 2, further comprising a connection member bound between the first movable member and the second movable member.