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">1.发明授权Six-degree-of-freedom parallel "minimanipulator" with three inextensible limbs 失效六自由度平行“微操纵器”与三个不可伸展的肢体
公开(公告)号：US5279176A
公开(公告)日：1994-01-18
申请号：US915567
申请日：1992-07-20
申请人： Farhad Tahmasebi , Lung-Wen Tsai
发明人： Farhad Tahmasebi , Lung-Wen Tsai
CPC分类号： G05G9/04737 , B25J17/0266 , B25J9/0036 , B25J9/0048 , B25J9/106 , Y10T74/20 , Y10T74/20305
摘要： 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.
摘要翻译： 描述了具有用于操纵平台的三个不可延伸的四肢的六自由度并联机械手，其中三个不可伸展的肢体通过万向接头以非共线点附接到平台。 每个不可伸展的肢体也通过万向接头连接到诸如五杆谱系，缩放仪或双向线性步进电机的两自由度并联驱动器。 司机将肢体的下端平行于固定的底座移动，从而提供对平台的操纵。 执行器安装在固定基座上，而不使用任何动力传动装置，如齿轮或皮带。
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">2.发明授权Simplified and symmetrical five-bar linkage driver for manipulating a Six-Degree-of-Freedom Parallel "minimanipulator" with three inextensible limbs 失效简化和对称的五杆联动驱动器，用于操纵具有三个不可伸展肢体的六自由度平行“微操纵器”
公开(公告)号：US5301566A
公开(公告)日：1994-04-12
申请号：US110181
申请日：1993-08-20
申请人： Farhad Tahmasebi , Lung-Wen Tsai
发明人： Farhad Tahmasebi , Lung-Wen Tsai
CPC分类号： G05G9/04737 , B25J17/0266 , B25J9/0036 , B25J9/0048 , B25J9/106 , Y10T74/20 , Y10T74/20305
摘要： 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.
摘要翻译： 描述了具有用于操纵平台的三个不可延伸的四肢的六自由度并联机械手，其中三个不可伸展的肢体通过万向接头以非共线点附接到平台。 每个不可伸展的肢体也通过万向接头连接到诸如五杆谱系，缩放仪或双向线性步进电机的两自由度并联驱动器。 司机将肢体的下端平行于固定的底座移动，从而提供对平台的操纵。 执行器安装在固定基座上，而不使用任何动力传动装置，如齿轮或皮带。
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