公开(公告)号：US06568871B2

公开(公告)日：2003-05-27

申请号：US09729238

申请日：2000-12-05

Applicant: Se-Kyong Song ,  Dong-Soo Kwon ,  Wan Soo Kim

Inventor： Se-Kyong Song ,  Dong-Soo Kwon ,  Wan Soo Kim

IPC: F16C1100

CPC classification number: F16C11/06 ,  Y10T403/32181 ,  Y10T403/32196 ,  Y10T403/32704 ,  Y10T403/32737 ,  Y10T403/32786 ,  Y10T403/34 ,  Y10T403/341

Abstract: A spherical joint for coupling three or more links together at one point. The joint includes a bail and a hollow spherical body wrapping the ball therein. The ball is movable in the hollow spherical body. An upper link inserted into and fixed to the hollow spherical body through an upper link insertion opening formed on the hollow spherical body. Lower links are connected to the hollow spherical body through lower link insertion openings, wherein the number of the lower links correspond to that of the hollow spherical body. Link support discs are set within a gap between outer surface of the central ball and inner surface of the hollow spherical body and fixed to each end of the lower link, and all the axes of the lower links and the upper link are coincident with a center point of the ball.

Abstract translation: 一个球形接头，用于将三个或更多个连杆在一个点处连接在一起。 接头包括吊环和将球包裹在其中的中空球体。 球可在中空球体中移动。 上连杆通过形成在中空球体上的上连杆插入口插入并固定到中空球体上。 下连杆通过下连杆插入口连接到中空球体，其中下连杆的数量对应于中空球体的数量。 连杆支撑盘设置在中心球的外表面和中空球体的内表面之间的间隙内并固定到下连杆的每一端，并且下连杆和上连杆的所有轴线与中心 点的球。

公开(公告)号：US06477912B2

公开(公告)日：2002-11-12

申请号：US09726305

申请日：2000-12-01

Applicant: Se-Kyong Song ,  Dong-Soo Kwon

Inventor： Se-Kyong Song ,  Dong-Soo Kwon

IPC: B05J914

CPC classification number: F16H21/46 ,  B23Q1/5462 ,  B25J9/0057 ,  B25J17/0216 ,  B25J17/0266 ,  Y10T74/20201 ,  Y10T74/20207 ,  Y10T74/20305 ,  Y10T74/20335

Abstract: A six-degrees-of-freedom parallel mechanism for micro-positioning work is disclosed. This mechanism freely performs a desired motion of translation and rotation of a moving platform using internal and external links actuated by linear actuators capable of precisely controlling the link positions, thus being effectively used as a 6dof parallel mechanism required to carry out a variety of micro-positioning works within a limited workspace. In the mechanism of this invention, a moving platform 10 is placed at an upper position, with a multiaxial spherical joint 40 mounted to the central portion of the moving platform 10. A base platform 20 is placed at a lower position of the mechanism. Three external links 30 couple the moving platform 10 to the base platform 20, while three internal links 50 couple the multiaxial spherical joint 40 to the base platform 20. In this mechanism, the internal links 50 are commonly coupled to the multiaxial spherical joint 40 so as to form a tetrahedral structure. In addition, each of the internal and external links 50 and 30 is a linear actuator designed to be precisely controllable in its position.

Abstract translation: 公开了一种用于微定位工作的六自由度并联机构。 该机构可以使用由能够精确控制连杆位置的线性致动器致动的内部和外部链节自由地执行移动平台的平移和旋转的期望运动，因此被有效地用作执行各种微动作的所需的并行机构， 定位工作在有限的工作区内。 在本发明的机构中，移动平台10放置在上部位置，多轴球面接头40安装在移动平台10的中心部分。底座平台20放置在机构的下部位置。 三个外部连杆30将移动平台10连接到基座平台20，而三个内部连杆50将多轴球面接头40连接到基座平台20.在该机构中，内部连杆50通常联接到多轴球面接头40 以形成四面体结构。 此外，内部和外部连杆50和30中的每一个是设计成在其位置上可精确控制的线性致动器。