Kinematic platform

摘要

The kinematic platform is a spherical-prismatic-spherical kinematic platform providing six degrees of freedom with controlled braking at each joint. The kinematic platform includes a base and an upper platform plate, with the upper platform plate having opposed upper and lower surfaces. The upper surface thereof provides a mounting surface for an external article to which controlled three-dimensional movement is to be imparted. A plurality of linear actuators are further provided, with each linear actuator having opposed upper and lower ends. A plurality of upper and lower spherical joints are provided for pivotally mounting the linear actuators between the upper platform plate and a lower base. Each spherical joint provides selective and controllable braking, allowing for the controlled rotation of each end of each linear actuator with respect to the respective upper platform plate or base.

主权项

1. A kinematic platform, comprising:
a base having opposed upper and lower surfaces, the lower surface being adapted for mounting on a support surface; an upper platform plate having opposed upper and lower surfaces; a plurality of linear actuators, each of the linear actuators having opposed upper and lower ends and being selectively actuatable; a plurality of upper spherical joints pivotally connecting the upper ends of the linear actuators to the lower surface of the upper platform plate; a plurality of lower spherical joints pivotally connecting the lower ends of the linear actuators to the upper surface of the base, each of the upper and lower spherical joints having:
a joint housing having an open interior region and at least one open end;at least one electromagnet disposed within the open interior region of the joint housing;a spherical joint member positioned against the at least one electromagnet, the at least one electromagnet being external to said spherical joint member; andat least one cover member securing at least a portion of the spherical joint member within the joint housing so that the spherical joint member frictionally engages the at least one electromagnet, the at least one electromagnet being positioned opposite the at least one cover member, such that the at least a portion of the spherical joint member within the joint housing is positioned between the at least one electromagnet and the at least one cover member, wherein the at least one electromagnet is selectively actuatable to selectively control the degree of magnetic attraction between the spherical joint member and the electromagnet to selectively control rotational freedom of the spherical joint member with respect to the at least one electromagnet and the joint housing.