Six-degree-of-freedom parallel "minimanipulator" with three inextensible limbs
AssigneeThe United States of America as represented by the Administrator of the National Aeronautics and Space Administration
InventorsFarhad Tahmasebi, Lung-Wen Tsai
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Abstract
A Six-Degree-of-Freedom Parallel-Manipulator having three inextensible limbs for manipulating a platform is described in which the three inextensible limbs are attached via universal joints to the platform at non-collinear points. Each of the inextensible limbs is also attached via universal joints to a two-degree-of-freedom parallel driver such as a five-bar lineage, a pantograph, or a bidirectional linear stepper motor. The drivers move the lower ends of the limbs parallel to a fixed base and thereby provide manipulation of the platform. The actuators are mounted on the fixed base without using any power transmission devices such as gears or belts.
Claims11
A six-degree-of-freedom parallel manipulator comprising:
- three inextensible limbs each having a first end and a second end;
- each of said inextensible limbs moveably attached at said first end to a platform at non-collinear points on said platform;
- and
- planar driver means affixed to a base member and moveably attached to each said second end of said inextensible limbs for providing planar movement to each said second end of each said inextensible limb thereby providing manipulation of said platform.
Dependencies are inferred from the claim text.