公开(公告)号：US07509886B2

公开(公告)日：2009-03-31

申请号：US10991644

申请日：2004-11-08

申请人： Ronen Ben Horin ,  Moshe Shoham ,  Hagay Bamberger

发明人： Ronen Ben Horin ,  Moshe Shoham ,  Hagay Bamberger

IPC分类号： B25J17/00

CPC分类号： B25J17/0266 ,  B25J7/00 ,  B25J9/0015 ,  Y10T74/20305 ,  Y10T74/20329

摘要： The invention relates to a mechanical structure which provides motion in six degrees of freedom, which comprises: (a) a main plate; (b) a base; (c) at least three supporting structures, each comprising a lower, bridge-like section supported by the base, and an upper section connected to said bridge section and to said main plate, wherein: (I) said bridge-like structure comprising two supporting plates, two intermediate plates, and one middle plate, all being serially connected one to another by means of four transversal hinges; (II) each pair of said supporting plates being slidable in linear displacement parallel to the base; (III) said upper section comprising two plates, a lower plate connected to said middle plate by means of a hinge transversal to said lower plate but longitudinal with respect to said middle plate, and an upper plate connected to said lower plate by means of a longitudinal hinge and to said main plate by means of a transversal hinge; (d) At least six linear motors connected each to a corresponding supporting plate, for applying a force thereon in order to effect a linear displacement of said plate; and (e) control means for determining the linear displacement of each linear motor.

摘要翻译： 本发明涉及提供六自由度运动的机械结构，其包括：（a）主板; （b）基地; （c）至少三个支撑结构，每个支撑结构包括由基座支撑的下部桥状部分，以及连接到所述桥接部分和所述主板的上部部分，其中：（I）所述桥状结构包括两个 支撑板，两个中间板和一个中间板，均通过四个横向铰链彼此串联连接; （II）每对所述支撑板可平行于所述底座的线性位移滑动; （III），所述上部部分包括两个板，下板通过横向于所述下板的铰链而相对于所述中间板纵向连接到所述中间板，并且上板通过连接到所述下板的上板 纵向铰链，并通过横向铰链连接到所述主板; （d）至少六根线性电动机，每个至少连接到相应的支撑板上，用于在其上施加力以便实现所述板的线性位移; 和（e）用于确定每个线性电动机的线性位移的控制装置。

公开(公告)号：US20050132837A1

公开(公告)日：2005-06-23

申请号：US10991644

申请日：2004-11-18

申请人： Ronen Ben Horin ,  Moshe Shoham ,  Hagay Bamberger

发明人： Ronen Ben Horin ,  Moshe Shoham ,  Hagay Bamberger

IPC分类号： B25J7/00 ,  B25J17/02 ,  B25J17/00

CPC分类号： B25J17/0266 ,  B25J7/00 ,  B25J9/0015 ,  Y10T74/20305 ,  Y10T74/20329

摘要： The invention relates to a mechanical structure which provides motion in six degrees of freedom, which comprises: (a) a main plate; (b) a base; (c) at least three supporting structures, each comprising a lower, bridge-like section supported by the base, and an upper section connected to said bridge section and to said main plate, wherein: (I) said bridge-like structure comprising two supporting plates, two intermediate plates, and one middle plate, all being serially connected one to another by means of four transversal hinges; (II) each pair of said supporting plates being slidable in linear displacement parallel to the base; (III) said upper section comprising two plates, a lower plate connected to said middle plate by means of a hinge transversal to said lower plate but longitudinal with respect to said middle plate, and an upper plate connected to said lower plate by means of a longitudinal hinge and to said main plate by means of a transversal hinge; (d) At least six linear motors connected each to a corresponding supporting plate, for applying a force thereon in order to effect a linear displacement of said plate; and (e) control means for determining the linear displacement of each linear motor.

摘要翻译： 本发明涉及提供六自由度运动的机械结构，其包括：（a）主板; （b）基地; （c）至少三个支撑结构，每个支撑结构包括由基座支撑的下部桥状部分，以及连接到所述桥接部分和所述主板的上部部分，其中：（I）所述桥状结构包括两个 支撑板，两个中间板和一个中间板，均通过四个横向铰链彼此串联连接; （II）每对所述支撑板可平行于所述底座的线性位移滑动; （III），所述上部部分包括两个板，下板通过横向于所述下板的铰链而相对于所述中间板纵向连接到所述中间板，并且上板通过连接到所述下板的上板 纵向铰链，并通过横向铰链连接到所述主板; （d）至少六根线性电动机，每个至少连接到相应的支撑板上，用于在其上施加力以便实现所述板的线性位移; 和（e）用于确定每个线性电动机的线性位移的控制装置。