A Six-Degree-of-Freedom Parallel-Manipulator having three inextensible limbs for manipulating a platform is described in which 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 lineage, 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.
U.S. Patent and Trademark Office DescriptionPTO
Lung-Wen Tsai, Farhad Tahmasebi