Parallel kinematics mechanism with concentric spherical joint.

摘要

A mechanism for positioning and orienting an end component in space with at least five degrees of freedom, the mechanism comprising: a base (1); a first actuator limb (A1) comprising at least one platform (11) connected to said base (1) by a revolute joint (10) allowing one rotational degree of freedom about a central axis (1a), a first end member (13) movably connected to said platform with a single actuated degree of freedom relative to said platform, an actuator (101) for actuating said first limb member relative to said platform, and a second end member (15) movably connected to said first limb member, said second limb at least three degrees of freedom relative to said base, wherein at least one of said degrees of freedom of said second limb member is actuatable relative said base; at least one second, third, fourth and fifth actuator limbs (A2, A3, A4, A5), each of the actuator limbs at least one actuator arm (3) pivotally connected to said base by a revolute joint actuated ( 2) allowing rotation about a respective actuator axis (1a, 2a, 2b), an actuator for actuating said actuator arm relative to said base, further comprising each of the second, third, fourth and fifth limb actuator forearm (5) movably connected to said actuator arm of the respective actuator limb, wherein said forearm has at least three degrees of freedom relative to said actuator arm including a degree of free rotational freedom about a respective forearm axis ( 5a); a first joint body (20, 24, 25), wherein said second limb member is rotatably connected to said first joint body and allows rotation relative to said first joint body about a first axis joint (20a, 24a, 25a), and wherein each of the forearms of said second and third actuator limbs is rotatably connected to said first joint body and allows rotation relative to said first joint body about a respective second and third joint axes (20b, 24b, 24c, 7a, 7b) which is not parallel to said forearm axis of the respective actuator limb; a second body of articulation (30, 26), wherein each of the forearms of said fourth and fifth actuator limbs is connected pivotally to said second joint body and allows rotation relative to said second joint body about a respective fourth and fifth joint axes (30b, 7d, 7c) which is not parallel to said forearm axis of the respective actuator limb; and the mechanism also comprising said end component (40, 40a, 40b) movably connected to each of said first and second joint bodies having the final component at least two rotational degrees of freedom relative to said first and second body hinge such that said end component is movable with at least five degrees of freedom relative to said base.