Patent ID: 6128970
Filing Date: 2000-10-10
Classification: G05G,Y10T

Abstract:
A manipulator having six degrees of freedom comprising:a moving plate having six moving points arranged with substantial equal angles therebetween;an upper fixed plate having six upper fixed points arranged with substantial equal angles therebetween, the upper fixed plate being positioned above the moving plate and being spaced apart from the moving plate;a lower fixed plate having six lower fixed points arranged with substantial equal angles therebetween, the lower fixed plate being positioned under the moving plate and being spaced apart from the moving plate;six connection and detection devices, each connecting one of the six moving points to one of the six upper fixed points and to one of the six lower fixed points, respectively, for moving the moving plate relative to the upper and the lower fixed plates with six degrees of freedom and detecting distance variations when the moving plate moves between said one moving point and said one upper fixed point, and between said one moving point and said one lower fixed point, and wherein each connection and detection means includes:a first spool and a second spool rotatably mounted on the lower fixed plate and longitudinally movable by a winding guide means, and each spool having a rotation shaft and a power transmitting means on said rotation shaft;a first wire wound around the first spool and connected to one moving point via one upper fixed point;a second wire wound around the second spool and connected to said one moving point to which the first wire is connected;a first shaft encoder for detecting a rotation of the first spool and connected to the power transmitting means of the first spool; anda second shaft encoder for detecting a rotation of the second spool and connected to the power transmitting means of the second spool;a through-hole formed through the upper fixed plate; anda handling stick vertically extending from an upper surface of the moving plate to pass through said through-hole.