Six-degree-of-freedom multi-axes positioning apparatus
AssigneeSandia Corporation
InventorLothar F. X. Bieg
Life of this patent
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Abstract
A six-degree-of-freedom multi-axes positioning apparatus is comprised of a geometry of six independent angle connectors. Each angle connector connects two fixed length rods to a pivot on one of two opposing platforms. The combination of an angle connector, at least two pivots and at least two rods having free ends connected to the pivots comprises a leg assembly. The spatial location of the upper platform is changed in relation to the lower platform by angular changes within each angle connector. This angular change results in degrees of motion within the apparatus defined as X, Y, Z, Tip, Tilt, and Rotation, or a combination of the above. This invention is known as a ROTOPOD.
Claims18
A multi-axes positioning apparatus comprising:
- upper and lower platforms, each platform having opposed upper and lower surfaces, the lower surface of said upper platform being generally aligned with and spaced from the upper surface of said lower platform;
- six independent leg assemblies extending between said platforms;
- each leg assembly consisting of:
- a fixed-length upper rod having top ends, one end being moveably connected to said upper platform;
- a fixed-length lower rod having two ends, one end being moveably connected to said lower platform;
- angle connector means for connecting the other end of the upper rod to the other end of the lower rod, said angle connector means permitting said upper rod to move with respect to said lower rod with only one degree of freedom;
- each said platform having three nodes spaced in a triangular arrangement, wherein only two of said leg assemblies are connected adjacent each node on each platform;
- and no two leg assemblies are connected adjacent the same nodes on both platforms.
Dependencies are inferred from the claim text.