公开(公告)号：US20080295637A1

公开(公告)日：2008-12-04

申请号：US12131192

申请日：2008-06-02

申请人： Simon LESSARD ,  Ilian Bonev ,  Pascal Bigras

发明人： Simon LESSARD ,  Ilian Bonev ,  Pascal Bigras

IPC分类号： B25J17/00

CPC分类号： B25J17/0266 ,  Y10T74/20305 ,  Y10T74/20329

摘要： A manipulator for supporting and displacing an object comprises a base. A moving portion supports the object. Two articulated mechanisms each having five rotational joints between links, with each articulated mechanism being connected to the base by two of the rotational joints. The moving portion is connected to both the articulated mechanisms by moving-portion joints. The articulated mechanisms and moving-portion joints are arranged with respect to each other between the base and the moving portion so as to constrain movement of the moving portion to displacements in two translational degrees of freedom and two rotational degrees of freedom with respect to the base. Four actuators are each operatively connected to a different one of the rotational joints between the base and the articulated mechanisms so as to selectively control the displacements of the moving portion in any one of the four degrees of freedom of the moving portion.

摘要翻译： 用于支撑和移动物体的操纵器包括基座。 移动部分支撑物体。 两个铰接机构各自在连杆之间具有五个旋转接头，每个铰接机构通过两个旋转接头连接到基座。 移动部分通过移动部分接头连接到两个铰接机构。 铰接机构和移动部分接头在基座和移动部分之间相对于彼此布置，以便将移动部分的运动限制在相对于底座的两个平移自由度和两个旋转自由度的位移 。 四个致动器各自可操作地连接到基座和铰接机构之间的不同的一个旋转接头，以便在移动部分的四个自由度中的任何一个中选择性地控制移动部分的位移。

公开(公告)号：US07707907B2

公开(公告)日：2010-05-04

申请号：US12093612

申请日：2006-11-17

申请人： Ilian Bonev

发明人： Ilian Bonev

IPC分类号： G05G11/00

CPC分类号： B25J9/106 ,  Y10T74/20207 ,  Y10T74/20317 ,  Y10T74/20348

摘要： A planar parallel mechanism having a platform movable in a plane along three degrees of freedom is described Existing technology fails to provide a manipulator with three degrees of freedom, wherein the mechanisms for moving the manipulator move in a decoupled fashion A manipulator and method of supporting and displacing an object which provides a solution to this problem comprises a base (1) and a moving portion (2) and articulated support legs (A1,A2,A3) between the moving portion (2) and the base (1) The articulated support legs (A1,A2,A3) are connected to the base (1) by a first translational joint, and jointly restrict movement of the moving portion to displacements in a plane in two translational degrees of freedom and one rotational degree of freedom A decoupled displacement of the moving portion (2) along a first of the two translational degrees of freedom and a decoupled displacement of the moving portion (2) along the rotational degree of freedom both result from actuation of at most two of the first translational joints Actuators (3,3a,3b,6,7) are operatively connected to a different one of the first translational joints so as to selectively control the displacements of the moving portion (2) in the three degrees of freedom of the moving portion (2).

摘要翻译： 描述了具有可在三自由度的平面中移动的平台的平面平行机构。现有技术不能提供具有三个自由度的操纵器，其中用于移动操纵器的机构以解耦方式移动。操纵器和支撑和 移动提供该问题的解决方案的物体包括在移动部分（2）和基部（1）之间的基部（1）和移动部分（2）和铰接支撑腿（A1，A2，A3）。铰接支撑 腿部（A1，A2，A3）通过第一平移关节连接到基座（1），并且共同地限制移动部分在两个平移自由度和一个旋转自由度的平面中的位移的移动。 沿着两个平移自由度中的第一个移动部分（2），并且移动部分（2）沿着旋转自由度的去耦位移是由致动 第一平移接头中的至少两个致动器（3,3a，3b，6,7）可操作地连接到第一平移接头中的不同的一个，以便选择性地控制移动部分（2）在三度中的位移 的移动部分（2）的自由度。

公开(公告)号：US07673537B2

公开(公告)日：2010-03-09

申请号：US12131192

申请日：2008-06-02

申请人： Simon Lessard ,  Ilian Bonev ,  Pascal Bigras

发明人： Simon Lessard ,  Ilian Bonev ,  Pascal Bigras

IPC分类号： B25J17/00

CPC分类号： B25J17/0266 ,  Y10T74/20305 ,  Y10T74/20329

摘要： A manipulator for supporting and displacing an object comprises a base. A moving portion supports the object. Two articulated mechanisms each having five rotational joints between links, with each articulated mechanism being connected to the base by two of the rotational joints. The moving portion is connected to both the articulated mechanisms by moving-portion joints. The articulated mechanisms and moving-portion joints are arranged with respect to each other between the base and the moving portion so as to constrain movement of the moving portion to displacements in two translational degrees of freedom and two rotational degrees of freedom with respect to the base. Four actuators are each operatively connected to a different one of the rotational joints between the base and the articulated mechanisms so as to selectively control the displacements of the moving portion in any one of the four degrees of freedom of the moving portion.

摘要翻译： 用于支撑和移动物体的操纵器包括基座。 移动部分支撑物体。 两个铰接机构各自在连杆之间具有五个旋转接头，每个铰接机构通过两个旋转接头连接到基座。 移动部分通过移动部分接头连接到两个铰接机构。 铰接机构和移动部分接头在基座和移动部分之间相对于彼此布置，以便将移动部分的运动限制在相对于底座的两个平移自由度和两个旋转自由度的位移 。 四个致动器各自可操作地连接到基座和铰接机构之间的不同的一个旋转接头，以便在移动部分的四个自由度中的任何一个中选择性地控制移动部分的位移。

公开(公告)号：US20080229860A1

公开(公告)日：2008-09-25

申请号：US12093612

申请日：2006-11-17

申请人： Ilian Bonev

发明人： Ilian Bonev

IPC分类号： G05G11/00

CPC分类号： B25J9/106 ,  Y10T74/20207 ,  Y10T74/20317 ,  Y10T74/20348

摘要： A planar parallel mechanism having a platform movable in a plane along three degrees of freedom is described Existing technology fails to provide a manipulator with three degrees of freedom, wherein the mechanisms for moving the manipulator move in a decoupled fashion A manipulator and method of supporting and displacing an object which provides a solution to this problem comprises a base (1) and a moving portion (2) and articulated support legs (A1,A2,A3) between the moving portion (2) and the base (1) The articulated support legs (A1,A2,A3) are connected to the base (1) by a first translational joint, and jointly restrict movement of the moving portion to displacements in a plane in two translational degrees of freedom and one rotational degree of freedom A decoupled displacement of the moving portion (2) along a first of the two translational degrees of freedom and a decoupled displacement of the moving portion (2) along the rotational degree of freedom both result from actuation of at most two of the first translational joints Actuators (3,3a,3b,6,7) are operatively connected to a different one of the first translational joints so as to selectively control the displacements of the moving portion (2) in the three degrees of freedom of the moving portion (2).

摘要翻译： 描述了具有可在三自由度的平面中移动的平台的平面平行机构。现有技术不能提供具有三个自由度的操纵器，其中用于移动操纵器的机构以解耦方式移动。操纵器和支撑和 移动提供该问题的解决方案的物体包括在移动部分（2）和基部（1）之间的基部（1）和移动部分（2）和铰接支撑腿（A 1，A 2，A 3） 铰接的支撑腿（A 1，A 2，A 3）通过第一平移关节连接到基座（1），并且共同地限制移动部分在两个平移自由度的平面中的位移和一个旋转 自由度沿着两个平移自由度中的第一个移动部分（2）的去耦位移以及移动部分（2）沿旋转自由度机器人的去耦位移 致动器中的至少两个第一平移接头的致动致动器（3,3a，3b，6,7）可操作地连接到第一平移接头中的不同的一个，以便选择性地控制移动部分的位移 （2）在移动部分（2）的三个自由度中。