US 11,945,111 B2
Parallel mechanism with kinematically redundant actuation
Clément Gosselin, Quebec (CA); Kefei Wen, Quebec (CA); David Harton, Quebec (CA); and Thierry Laliberte, Quebec (CA)
Assigned to UNIVERSITÉ LAVAL, Quebec (CA)
Appl. No. 17/435,877
Filed by UNIVERSITÉ LAVAL, Quebec (CA)
PCT Filed Feb. 28, 2020, PCT No. PCT/CA2020/050264
§ 371(c)(1), (2) Date Sep. 2, 2021,
PCT Pub. No. WO2020/176973, PCT Pub. Date Sep. 10, 2020.
Claims priority of provisional application 62/814,526, filed on Mar. 6, 2019.
Prior Publication US 2022/0143816 A1, May 12, 2022
Int. Cl. B25J 9/10 (2006.01); B25J 9/00 (2006.01); B25J 15/02 (2006.01); F16M 11/04 (2006.01); F16M 11/12 (2006.01); F16M 11/14 (2006.01); F16M 11/18 (2006.01)
CPC B25J 9/1065 (2013.01) [B25J 9/0045 (2013.01); B25J 15/0266 (2013.01); F16M 11/043 (2013.01); F16M 11/121 (2013.01); F16M 11/14 (2013.01); F16M 11/18 (2013.01)] 29 Claims
OG exemplary drawing
 
1. A spatial parallel mechanism comprising:
a platform;
at least three legs configured for extending from a base or ground to the platform, each leg including
a distal link,
at least one distal joint providing one rotational degree of freedom (DOF) about a distal rotational axis, the at least one distal joint connecting a distal end of the distal link to the platform,
a proximal joint providing at least two rotational DOFs at the proximal end of the distal link, and
assemblies of joints and links to provide DOFs to each said leg between the proximal joint and the base or ground;
wherein the distal rotational axes of the three legs are parallel to one another.