Parallel kinematic mechanism, a linear actuator voice coil and spherical joint of the said mechanism.

摘要

Summary "parallel kinematic mechanism, a linear actuator voice coil and spherical joint of the said mechanism," a mechanism kinematic parallel improved to guide a platform with a greater range of movement to its volume, due to the use of ball joint (207) magneticam The coupled on the platform of orientation (110, 126,204) and the linear actuators operating the said individual joints (207). The linear actuators may be voice coil actuators based on printed circuit boards (PCB) (30), a magnetic field (63, 87), which can be generated by permanent magnets (61, 62, 82, 83, 84, 85, 86, 88) configured as a matrix Halbach (32) modified.The voice coil actuators based on the PCB (30) may have a device sensitive to the position (PSD) embedded in the PCB to assist in the determination of the location of the actuator with a high degree of accuracy. The payload of the steering platform (110, 126, 204) may be repositions With precision and speed improved.