Positioning method

Abstract

An alternative, more precise positioning manipulator is desired. [Solution] The parallel positioning manipulator includes a retainer, a base plate, and a plurality of translational joint actuators. Each actuator includes an actuator joint having 5 degrees of freedom (DOF) on either the base plate or the retainer. When one or more of the actuators extend or retract, the pivot points or 5DOF actuator joints of the remaining actuators are made to move in the direction of any axis other than the primary operating axis of the actuator.

Claims

1. A method for positioning a device, The steps include providing a base plate, The steps include providing a retainer having a first angled side and a second angled side, The steps include providing a plurality of actuators, each arranged such that its extension and retraction direction is at an angle to the horizontal plane, with a first end fixed to the base plate and a second end sliding against the first angled side or the second angled side of the retainer, Equipped with, The positioning method is characterized in that the plurality of actuators can move the retainer in accordance with the extension or contraction of one or more of the plurality of actuators.

2. A positioning method according to claim 1, A positioning method characterized in that at least two of the plurality of actuators maintain contact with the retainer by sliding joints having four degrees of freedom.

3. A positioning method according to claim 1, A positioning method characterized in that at least two of the plurality of actuators maintain contact with the retainer by sliding joints having five degrees of freedom.

4. A positioning method according to claim 1, A positioning method characterized in that at least four of the plurality of actuators maintain contact with the retainer by sliding joints having five degrees of freedom.

5. A positioning method according to claim 1, A positioning method characterized in that one or more of the aforementioned actuators are arranged to extend and retract in a direction at an angle of approximately 90 degrees with respect to the first angled side surface or the second angled side surface of the retainer.

6. A positioning method according to claim 1, A positioning method characterized in that all of the plurality of actuators are arranged to extend and retract in a direction at an angle of approximately 90 degrees with respect to the first angled side surface or the second angled side surface of the retainer.

7. A positioning method according to claim 1, A positioning method characterized by using a four-axis positioning stage.

8. A positioning method according to claim 1, A positioning method characterized in that, when one of the plurality of actuators, which is positioned between the first angled side portion of the base plate and the first angled side portion of the retainer, is in a neutral position, the base plate has a first angled side portion that is parallel to the first angled side portion of the retainer.

9. A positioning method according to claim 8, A positioning method characterized in that, when one of the plurality of actuators, which is positioned between the second angled side portion of the base plate and the second angled side portion of the retainer, is in the neutral position, the base plate has a second angled side portion that is parallel to the second angled side portion of the retainer.

10. A positioning method according to claim 9, The positioning method is characterized in that the neutral position refers to a position in which the actuator is not extended.

11. A positioning method according to claim 1, A positioning method characterized in that at least one of the plurality of actuators has a magnetic second end that forms a slidable joint that contacts the first angled side or the second angled side of the retainer.

12. A positioning method according to claim 1, A positioning method characterized in that the second ends of two or more actuators among the plurality of actuators form a magnetic joint with the first angled side surface or the second angled side surface of the retainer.

13. A positioning method according to claim 1, A positioning method characterized in that the second ends of all of the plurality of actuators form a magnetic joint with the first angled side surface or the second angled side surface of the retainer.

14. A positioning method according to claim 1, The positioning method is characterized in that the holder is provided with grooves formed to hold an elongated cable-like object.

15. A positioning method according to claim 14, The positioning method is characterized in that the elongated cable-like object includes at least an optical fiber.

16. A positioning method according to claim 14, A positioning method characterized in that the retainer is V-shaped.

17. A positioning method according to claim 1, The step of providing an electronic control device that can move the retainer to a designated position by effectively combining the extension and / or contraction of the plurality of actuators, A positioning method further characterized by having the following features.

18. A positioning method according to claim 17, A positioning method characterized in that the actuators are configured such that the same amount of extension or contraction of any pair of actuators generates motion of the retainer along a single axis only, and the extension or contraction is performed under the control of the electronic control unit.

19. A positioning method according to claim 17, The step of providing one or more sensors capable of detecting the position of the retainer and transmitting sensor data of the retainer's position to the electronic control device via a feedback loop, Furthermore, The positioning method is characterized in that the electronic control unit can control the plurality of actuators to adjust the position of the retainer according to the sensor data.

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