Parallel kinematics mechanism with a concentric spherical joint
OwnerShambhu Nath Roy, Michael Merzinventors
Life of this patent
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Abstract
A parallel kinematics mechanism is provided for uses such as robotics or machining. The mechanism has various limbs, at least some of which are actuatable, for moving an end component with multiple degrees of freedom. The mechanism advantageously facilitates a closed-form solution for the forward kinematics. A joint assembly is provided for use in the parallel kinematics mechanism, the joint assembly having a plurality of revolute joints for connecting to at least three limbs, the joints having non-parallel axes, which intersect at a common point. In various embodiments of the invention, the end component has three, four, five and six degrees of freedom.
Claims18
A concentric spherical joint assembly connecting at least first, second, and third limb members with three rotational degrees of freedom with respect to each other, the concentric spherical joint assembly comprising:
- at least one joint body;
- and
- at least three elbows, each elbow having a proximal end and a distal end, the proximal end being mounted to said joint body by means of a proximal revolute joint for rotatable movement about a respective joint axis, the distal end having a distal revolute joint mountable to a respective one of the limb members for rotatable movement about a limb axis, the joint axes and the limb axes of the three elbows intersecting at a common point.
A mechanism for positioning and orienting an end component in space with six degrees of freedom, the mechanism comprising:
- a base;
- an end component;
- six elongate actuator limbs, each of said actuator limbs having a first limb member and a second limb member, the second limb member being actuatably movable relative to the first limb member;
- first, second, third, fourth, fifth, and sixth joint assemblies, each of said joint assembly including:
- a joint body;
- and
- three elbows, each elbow having a proximal end and a distal end, the proximal end having a proximal revolute joint for mounting the elbow to the joint body for movement about a proximal joint axis, the distal end having a distal revolute joint for mounting limbs allowing movement about a distal joint axis, the proximal and distal joint axes of the tree elbows intersecting at a common point;
- wherein the distal revolute joint of one of the elbows of each of the first, second, and third joint assemblies is mounted to said base for revolute movement relative thereto;
- wherein the distal revolute joint of one of the elbows of each of the fourth, fifth, and sixth joint assemblies is mounted to said end component for revolute movement relative thereto;
- and
- wherein said actuator limbs connect the first, second, and third joint assemblies to the fourth, fifth, and sixth joint assemblies in a manner each of said actuator limbs has said first limb member mounted to a respective one of said distal revolute joints of the first, second, or third joint assemblies and said second limb member mounted to a respective one of said elbows of the fourth, fifth, or sixth joint assemblies such that each of the joint assemblies at the base is connected to two separate joint assemblies at the end component.
A mechanism for positioning and orienting an end component in space with six degrees of freedom, the mechanism comprising:
- a base;
- an end component;
- six elongate actuator limbs, each of said actuator limbs having a first limb member and a second limb member, the second limb member being actuatably movable relative to the first limb member;
- first, second, and third joint assemblies, each of said joint assembly including:
- a joint body;
- and
- three elbows, each elbow having a proximal end and a distal end, the proximal end having a proximal revolute joint for mounting the elbow to the joint body for movement about a proximal joint axis, the distal end having a distal revolute joint for mounting limbs allowing movement about a distal joint axis, the proximal and distal joint axes of the three elbows intersecting at a common point;
- wherein the distal revolute joint of one of the elbows of each of the first, second, and third joint assemblies is mounted to said end component for revolute movement relative thereto;
- and
- wherein said actuator limbs connect the first, second, and third joint assemblies to the base in a manner each of said actuator limbs has said first limb member mounted to a respective one of said distal revolute joints of the first, second, or third joint assemblies and the second limb member movably mounted to the base with at least two rotational degrees of freedom relative to the base.
Dependencies are inferred from the claim text.