US 11,808,319 B2
Horizontally arranged six-degree-of-freedom constant-stiffness mechanism
Huayan Pu, Chongqing (CN); Tong Wang, Chongqing (CN); Qimin Li, Chongqing (CN); Jinglei Zhao, Chongqing (CN); Jun Luo, Chongqing (CN); and Jie Ma, Chongqing (CN)
Assigned to Chongqing University, Chongqing (CN); and Shanghai University, Shanghai (CN)
Filed by Chongqing University, Chongqing (CN); and Shanghai University, Shanghai (CN)
Filed on Jul. 12, 2021, as Appl. No. 17/373,248.
Claims priority of application No. 202110123994.6 (CN), filed on Jan. 29, 2021.
Prior Publication US 2022/0243782 A1, Aug. 4, 2022
Int. Cl. F16F 15/00 (2006.01); F16F 15/03 (2006.01); F16F 15/04 (2006.01)
CPC F16F 15/03 (2013.01) [F16F 15/04 (2013.01); F16F 2222/06 (2013.01); F16F 2228/063 (2013.01); F16F 2228/066 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A horizontally arranged six-degree-of-freedom constant-stiffness mechanism, comprising an upper platform, a bottom plate, three composite spherical hinges, spherical hinges, support rods, guide rail slider assemblies, and six electromagnetic adjustable stiffness units with a same structure, wherein in each of the electromagnetic adjustable stiffness units, two ends of a shaft on which a permanent magnet is fixed are fixed to the bottom plate via shaft supports, housings of the electromagnetic adjustable stiffness units move axially and are fixed on sliders of the guide rail slider assemblies via slider backing plates respectively, the guide rail slider assembles are fixed on the bottom plate, top portions of the housings are mounted with the spherical hinges respectively, a bottom portion of the upper platform is uniformly mounted with the three composite spherical hinges, one end of each support rod is threadedly connected with a corresponding one of the spherical hinges, and another end of the support rod is threadedly connected with a corresponding one of the three composite spherical hinges.