Parallel Position Manipulator With Five-DOF Actuator Joints
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Solution Overview
Problem
Hexapods, a type of multi-axis positioning stage, are cost-prohibitive due to their complex motion and speed profile requirements, which necessitate high computing power and high-quality spherical bearings, making them expensive and difficult to operate manually for precise movements.
Innovation Solution
A parallel position manipulator with three to six prismatic joint actuators, each with five Degrees of Freedom, using magnetic or other actuators to support a top plate over a base plate, allowing independent actuator movement and reducing the need for complex algorithms and high-stiffness joints, thereby lowering costs and improving operational simplicity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If hexapod multi-axis positioning stage is used, then positioning precision is improved, but device complexity and cost increase exponentially
Solution Approach 1:
The patent replaces the complex mechanical spherical joints of hexapods with magnetic field-based positioning. Magnets embedded in the top plate interact with magnetic sensors on actuators to determine position and orientation, eliminating the need for intricate mechanical linkages and spherical bearings while achieving submicron precision.
Solution Approach 2:
The patent introduces magnetic fields as an intermediary between the actuators and the top plate. Instead of direct mechanical contact through complex joints, magnetic forces and field interactions mediate the positioning, allowing for simpler actuator designs and reduced mechanical complexity while maintaining high precision.
2Measurement precision
If spherical joints with tight tolerances are used to reduce slop, then positioning precision is improved, but manufacturing cost and complexity increase exponentially
Solution Approach 1:
The patent eliminates spherical joints entirely by using magnetic field interactions for positioning. The top plate contains magnets that interact with magnetic sensors on the actuators, replacing the need for precision-machined spherical bearings and their associated tight tolerance requirements, thereby dramatically reducing manufacturing cost and complexity.
Solution Approach 2:
The patent changes the fundamental parameter of joint stiffness by replacing mechanical spherical joints with magnetic coupling. This allows the system to achieve the necessary precision without relying on mechanically stiff joints with tight tolerances, instead using magnetic field strength and sensor precision to determine position.
3Measurement precision
If complex motion and speed profile algorithms are implemented, then positioning precision is improved, but computational requirements and operational complexity increase
Solution Approach 1:
The patent replaces complex computational algorithms for calculating motion profiles with direct magnetic field measurement. Magnetic sensors on the actuators directly measure the position and orientation of the top plate through magnetic field interactions, eliminating the need for complex kinematic calculations and speed profile algorithms while achieving high precision.
Solution Approach 2:
The magnetic positioning system is self-measuring through direct magnetic field interactions. The magnets in the top plate and sensors on the actuators automatically determine position and orientation without requiring external computation or complex control algorithms, simplifying both the hardware and software requirements.
4Measurement precision
If high-performance actuators with high capability are used, then positioning precision is improved, but device cost and power requirements increase exponentially
Solution Approach 1:
The patent replaces high-performance mechanical actuators with simpler actuators that use magnetic field interactions for positioning. The magnetic coupling between the top plate magnets and actuator sensors provides precise position feedback without requiring high-torque mechanical transmission, reducing actuator power requirements while maintaining submicron precision.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution enables precise positioning with reduced computational and actuator requirements, achieving submicron precision at a fraction of the cost of hexapods, while allowing for scalable and flexible multi-axis motion without binding issues.
Implementation Method 1
magnetic force, gravity, and/or a pliable polymer, such as silicone, may be employed to keep the up to five DOF pivot points in contact with their respective (that is, top or bottom) plate
Implementation Method 2
magnetic force, gravity, and/or a pliable polymer, such as silicone, may be employed to keep the up to five DOF pivot points in contact with their respective (that is, top or bottom) plate
Data Source
AI summary
A parallel position manipulator includes a top plate, a baseplate and a plurality of prismatic joint actuators. Each actuator includes an actuator joint having five Degrees of Freedom (DOF) at either the base plate or the top plate. When one or more of the actuators extends or contracts, the pivot points, or five DOF actuator joint, of the remaining actuators are allowed to shift in any axis other than that actuator's primary axis of motion.