Twelve axes mechanism for spherical coordinate kinematics

摘要

A mechanism geometrically constituted with twelve axes can be manipulated for spherical coordinate kinematics. Concerning the major improvement of the invention, one of the two geometric tetrahedron frames which were ever specified by our two pre-inventions (U.S. Pat. No. 8,579,714 B2/US20120083347A1 and US20150082934A1) is decoupled and reconstructed as two separated terminal frames which are constituted by two individual geometric arcs. The other one of the two geometric tetrahedron frames without changing its original geometric definition is inherited in the invention and renamed as a base frame. Comparing to the original single geometric tetrahedron, the mechanism newly developed by two individual geometric arcs is suffering fewer constraints and gaining more work space. If a terminal saddle is equipped onto a terminal frame, the newly developed mechanism can be increased extra payload capability. Therefore, this improvement is substantially extending the utility of twelve axes mechanism for spherical coordinate kinematics.