A Six-Degree-of-Freedom Parallel-Manipulator having three inextensible limbs for manipulating a platform is described. The three inextensible limbs are attached via universal joints to the platform at non-collinear points. Each of the inextensible limbs is also attached via universal joints to a two-degree-of-freedom parallel driver such as a five-bar linkage, a pantograph, or a bidirectional linear stepper motor. The drivers move the lower ends of the limbs parallel to a fixed base and thereby provide manipulation of the platform. The actuators are mounted on the fixed base without using any power transmission devices such as gears or belts.


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    Title :

    Six-degree-of-freedom parallel minimanipulator with three inextensible limbs


    Contributors:

    Publication date :

    1994-01-18


    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English




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