Socovar, Societe En Commandite

Ilian Bonev

Simon Lessard

Pascal Bigras

A planar parallel mechanism having a platform movable in a plane along three degrees of freedom is described Existing technology fails to provide a manipulator with three degrees of freedom, wherein the mechanisms for moving the manipulator move in a decoupled fashion A manipulator and method of supporting and displacing an object which provides a solution to this problem comprises a base () and a moving portion () and articulated support legs (A,A,A) between the moving portion () and the base () The articulated support legs (A,A,A) are connected to the base () by a first translational joint, and jointly restrict movement of the moving portion to displacements in a plane in two translational degrees of freedom and one rotational degree of freedom A decoupled displacement of the moving portion () along a first of the two translational degrees of freedom and a decoupled displacement of the moving portion () along the rotational degree of freedom both result from actuation of at most two of the first translational joints Actuators () are operatively connected to a different one of the first translational joints so as to selectively control the displacements of the moving portion () in the three degrees of freedom of the moving portion ().

Planar parallel mechanism and method

A manipulator for supporting and displacing an object comprises a base. A moving portion supports the object. Two articulated mechanisms each having five rotational joints between links, with each articulated mechanism being connected to the base by two of the rotational joints. The moving portion is connected to both the articulated mechanisms by moving-portion joints. The articulated mechanisms and moving-portion joints are arranged with respect to each other between the base and the moving portion so as to constrain movement of the moving portion to displacements in two translational degrees of freedom and two rotational degrees of freedom with respect to the base. Four actuators are each operatively connected to a different one of the rotational joints between the base and the articulated mechanisms so as to selectively control the displacements of the moving portion in any one of the four degrees of freedom of the moving portion.

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Montréal, Canada

Ilian Bonev