Three-axis machine for rapid and rigid manipulation of components
AssigneeSheldon/Van Someren, Inc.
InventorPaul C. Sheldon
Life of this patent
Estimating the term…
Abstract
A three-axis machine is disclosed. The machine includes a machine component to which a workpiece or tool can be attached. An actuator, such as three powered extensible legs, is connected between the machine component and a support structure. Three control arms also are connected between the machine component and the support structure. Preferably, each control arm is pivotably connected to the support structure and the machine component and includes a pair of four-bar linkages connected in series. The control arms are oriented to permit rapid movement of the machine component along any or all of the three linear axes, while restricting rotational movement of the machine component along the rotational axes.
Claims20
A machine that can be mounted to a support structure, the machine being designed to move an object along a path with the potential motion of the object being defined by three linear axes and three rotational axes, comprising:
- a machine component configured to carry the object;
- an actuator connected to the machine component and configured for connection to the support structure to selectively move the machine component with respect to the support structure;
- and
- a rotational control system including a control arm having a first end attached to the machine component and a second end configured for pivotable attachment to the support structure, the control arm further including a pair of four bar linkages connected in series, the pair of four bar linkages of the control arm remaining oriented generally parallel to a common plane during movement of the machine component, wherein the control arm permits movement of the machine component along the three linear axes while preventing motion along at least two rotational axes.
A machine for moving an object, the machine being mountable to a support structure, comprising:
- a machine component configured to carry the object;
- a plurality of legs pivotably connected to the machine component and configured for pivotable connection to the support structure, each leg being selectively actuable to move the machine component with respect to the support structure;
- and
- a rotational control system including three control arms, each control arm being connected to the machine component and configured for pivotable connection to the support structure, each control arm including multiple bars arranged as a pair of four bar linkages connected in series, wherein the four bar linkages of each of the control arms are constructed to restrict rotational movement of the machine component solely through tension and compression of the multiple bars, the pair of four bar linkages of each control arm remaining oriented generally parallel to a common plane during movement of the machine component.
A method for restricting rotational motion of a machine component, comprising the steps of:
- providing a machine component that can move relative to a support structure;
- assembling a first four-bar linkage;
- assembling a second four-bar linkage;
- pivotably connecting the first four-bar linkage to the second four-bar linkage in series, such that pivotable movement of the first four-bar linkage relative to the second four-bar linkage is restricted to one degree of freedom, the first four-bar linkage and second four-bar linkage remaining oriented generally parallel to a common plane during movement of the machine component;
- pivotably attaching the first four-bar linkage to the support structure;
- connecting the second four-bar linkage to the machine component to resist rotational movement of the machine component;
- assembling a third four-bar linkage;
- assembling a fourth four-bar linkage;
- connecting the third four-bar linkage to the fourth four-bar linkage in series, such that pivotable movement of the third four-bar linkage relative to the fourth four-bar linkage is restricted to one degree of freedom, the third four-bar linkage and fourth four-bar linkage remaining oriented generally parallel to a common plane during movement of the machine component;
- pivotably attaching the third four-bar linkage to the support structure;
- and
- connecting the fourth four-bar linkage to the machine component at a pivot to restrict rotational movement of the machine component.
Dependencies are inferred from the claim text.