US 11,731,265 B2
Parallel-kinematic machine with versatile tool orientation
Torgny Brogardh, Molndal (SE); Klas Nilsson, Lund (SE); and Adam Nilsson, Brooklyn, NY (US)
Assigned to COGNIBOTICS AB, Lund (SE)
Appl. No. 17/753,054
Filed by COGNIBOTICS AB, Lund (SE)
PCT Filed Aug. 17, 2020, PCT No. PCT/EP2020/072999
§ 371(c)(1), (2) Date Feb. 16, 2022,
PCT Pub. No. WO2021/032680, PCT Pub. Date Feb. 25, 2021.
Claims priority of provisional application 63/051,221, filed on Jul. 13, 2020.
Claims priority of application No. 19192225 (EP), filed on Aug. 19, 2019.
Prior Publication US 2022/0281100 A1, Sep. 8, 2022
Int. Cl. B25J 9/00 (2006.01); B25J 9/10 (2006.01); B25J 9/16 (2006.01)
CPC B25J 9/0057 (2013.01) [B25J 9/106 (2013.01); B25J 9/1664 (2013.01)] 23 Claims
OG exemplary drawing
 
1. A parallel kinematic machine (PKM), comprising:
a support platform;
a first support linkage, comprising one or more first support links, each of the first support links connected at a first end to the support platform via a first support joint, and at a second end connected to a first carriage via a first carriage joint, wherein the first carriage is movable along a first path, and wherein the first support linkage is arranged to transfer a first movement to the support platform;
a second support linkage, comprising one or more second support links, each of the second support links connected at a first end to the support platform via a second support joint, and at a second end connected to a second carriage via a second carriage joint, wherein the second carriage is movable along a second path, and wherein the second support linkage is arranged to transfer a second movement to the support platform;
a third support linkage comprising, one or more third support links, each of the third support links connected at a first end to the support platform via a third support joint, and at a second end connected to a third carriage via a third carriage joint;
wherein the third carriage is movable along a third path, and the third support linkage is arranged to transfer a third movement to the support platform; and wherein the first support linkage, the second support linkage, and the third support linkage together comprise at least five support links;
wherein the PKM further comprises:
a tool base, comprising a shaft joint, a tool base shaft, and a tool platform, wherein the tool base shaft is connected to the support platform via the shaft joint, and wherein the tool platform and the tool base shaft are rigidly connected to each other; and
one or more tool linkages, each of the tool linkages comprising a tool link connected at a first end, via a tool base joint, to the tool base, and at a second end connected, via a tool carriage joint, to a carriage arranged for movement along a path;
wherein each of the tool linkages is configured to rotate the tool base shaft around at least one axis relative to the support platform, by transferring a movement of the respective tool linkage to the tool base shaft.