3 DEGREES OF FREEDOM PARALLEL LINK PLATFORM TO BE ABLE TO CHANGE SINGULARITY

摘要

PURPOSE: A 3-DOF(Degree Of Freedom) parallel link platform capable of changing a singular point is provided to ensure minimized size because a gear or pulley for singular point change is installed inside a 3-DOF parallel device. CONSTITUTION: A 3-DOF parallel link platform comprises three linear actuators(30) and a gear or pulley. The three linear actuators are arranged between an upper plate(10) and a lower plate(20). The upper coupling parts of the linear actuators are connected via ball joints while the lower coupling parts are connected via improved universal joints(40). The gear or pulley is connected to three universal joint mounts and rotated by a motor to change the angle of the linear actuators and the lower plate, thereby changing the singular point for center distance between the upper and lower plates.