Abstract:
3˜6-DOF decoupling structure modular reconfigurable parallel micromanipulator can be configured to different structures and degrees of freedom for different task requirement and work environment. Integral structure of reconfigurable modules like fixed platform module, 2-PSS limb module, 2-PUS limb module, 1-PSS limb module, 2-PUS limb module, 1-PUU limb module, moving platform module and driver module are described. Decoupling structure parallel micromanipulators of 3-, 4-, 5- and 6-DOF are constructed by the reconfigurable modules and theirs structure is described in detail. The invention has the merits of multiplicity and multifunction. What&#39;s more, it can solve the problem of the rather large assembly error in the full assembly and the baddish manufacturing process in the integral structure.

Description:
FIELD OF THE INVENTION  
         [0001]    The invention relates in general to advanced manufacture, and more particularly, to 3˜6-DOF decoupling structure modular reconfigurable parallel micromanipulator and the like.  
         BACKGROUND OF THE INVENTION  
         [0002]    The ideal of modularization is to design with standardized units or dimensions for easy assembly and repair or flexible arrangement and use. A fully modular reconfigurable robot consisting of a set of standardized modules can be configured to different structures and degrees of freedom for different task requirement. In recent years the concept of modularization has been introduced in the design of the parallel manipulators for flexibility, economy, ease of maintenance, and rapid deployment. A modular reconfigurable parallel robot has been developed by Yang and Chen who belong to Gintic manufacturing engineering research institute and Nanyang technological university respectively, Singapore. Professor Hamlin, Rensselaer technological research institute, USA, has designed a modular reconfigurable parallel robot, Tetrobot. The spherical joints used in the Terobot are novel mechanism known as the concentric multi-link spherical (CMS) joint, which allows an arbitrary number of links to be connected to a common center of rotation. Under the support of the NIST, a modular reconfigurable experimental Stewart platform has been developed by Zhiming Ji of New Jersey engineering college, USA. He also studied the pose parameter identification. In china there is no relevant report on the modular reconfigurable parallel robot.  
           [0003]    The flexible joints used in parallel micromanipulator substitute for the actual ones, which may not only eliminate the general clearance, friction but also have a number of intrinsic properties such as high rigid and high degree of accuracy. Professor Feng Gao of Heibei University of Technology(China) have acquired a serial of invention patents in 3, 4, 5, 6-DOF decoupling structure parallel micromanipulator field in China, the Patent No. are ZL99121020.4 □ZL00100196.5 □ZL 00100197.3 □ZL 00100198.1. At the present time there is only two means for the manufacture of the parallel micromanipulator, full assembly and integral structure. The full assembly through which the manipulator is assembled by a series of parts is the general means applied in the manufacture. But a rather large assembly error can be existed in the robot system by this means. The means of integral structure would not produce assembly error at the cost of baddish manufacturing process. For these reasons given above, we present a kind of decoupling structure modular reconfigurable micromanipulator, which can not only overcome the deficiency described above to some extent but also configure to some different decoupling structure parallel micromanipulators. To now, there is no report on decoupling structure modular reconfigurable parallel micromanipulator all over the world.  
         BRIEF DESCRIPTION OF THE INVENTION  
         [0004]    The object of the invention is to provide 3˜6-DOF decoupling structure parallel micromanipulator which is composed by reconfigurable modules.  
           [0005]    Yet another object of the invention is to provide 3˜6-DOF decoupling structure modular reconfigurable parallel micromanipulator which avoids assembly error of the full assembly one and baddish manufacturing process of the integral structure one.  
           [0006]    In accordance with the present invention, the 3˜6-DOF decoupling structure modular reconfigurable parallel micromanipulator consists of fixed platform module with three reciprocal orthogonal mounting surfaces on which there are connecting holes, limb modules, driver module and moving platform module. The limb modules connect the fixed platform module and moving platform via three reciprocal orthogonal directions respectively. And there are six kinds of limb module which could be chosen to configure decoupling structure parallel micromanipulator of 3-, 4-, 5- and 6-DOF.  
           [0007]    The structure of 2-PSS limb module is integrated two same direct kinetic limbs each of which consists of one flexible prismatic pair, one link and two flexible spherical joints into one. The two flexible prismatic pairs of the 2-PSS limb module are fixed parallel on the chassis on which there are connecting holes. Additionally, the axes of the two links are parallel, at the end of which are connected with flexible spherical joints respectively. Two flexible spherical joints are mounted on the two flexible prismatic pairs, and the other two flexible spherical joints are fixed on the quadrate strut which would be utilized to connect with the moving platform.  
           [0008]    The structure of 2-PUS limb module is same with the structure of 2-PSS limb module except that the two flexible spherical joints mounted on the two flexible prismatic pairs are substituted by two flexible universal joints.  
           [0009]    The structure of 2-PUU limb module is same with the structure of 2-PSS limb module except that the four flexible spherical joints are substituted by four flexible universal joints.  
           [0010]    The structure of 1-PSS limb module is one kinetic limb which integrates with one flexible prismatic pair, one link and two flexible spherical joints. The flexible prismatic pair of the 1-PSS limb module is fixed on the chassis on which there are connecting holes. Additionally, the two flexible spherical joints are fixed at the two end of link respectively. One flexible spherical joint is mounted on the flexible prismatic pair, and the other flexible spherical joint is fixed on the quadrate strut which would be utilized to connect with the moving platform.  
           [0011]    The structure of 1-PUS limb module is same with the structure of 1-PSS limb module except that the flexible spherical joint mounted on the flexible prismatic pair is substituted by one flexible universal joint.  
           [0012]    The structure of 1-PUU limb module is same with the structure of 1-PSS limb module except that the two flexible spherical joints are substituted by two flexible universal joints.  
           [0013]    The fixed platform module possesses three reciprocal orthogonal mounting surfaces with connecting holes. The chassis of limb module would be located on the surface and fixed by the connecting holes.  
           [0014]    The moving platform module would be the moving platform of micromanipulator. It is a cube with six quadrate notches on its three reciprocal orthogonal mounting surfaces which would be utilized to connect with the limb modules.  
           [0015]    The driver module is the piezoelectric ceramic driver and is installed between the flexible place of the limb module&#39;s prismatic pair and the chassis.  
           [0016]    These standardized modules, such as fixed platform module, suitable limb modules, moving platform module and driver module can be configured to some special 3˜6-DOF decoupling structure parallel micromanipulators.  
           [0017]    In symbol of the limb modules, the Arabic number is denoted the number of the kinetic limb, P is denoted the flexible prismatic pair of one DOF, U for the flexible universal joint of two DOF and S for the flexible spherical joint of three DOF.  
           [0018]    The following is the technical advantage of the present invention compared with the others:  
           [0019]    3˜6-DOF decoupling structure modular reconfigurable parallel micromanipulator can be configured to different structures and degrees of freedom for different task requirement and work environment. So it has the merits of multiplicity and multifunction. What&#39;s more, it can solve the problem of the rather large assembly error in the full assembly and the baddish manufacturing process in the integral structure. The presentation of the invention will have a great influence in the field of manufacture. Besides, it can be applied extensively in these fields of fine operation and machining, micro manufacture, inching platform, integrated circuit production, biologic and genetic engineering and microsurgery. 
       
    
    
     DETAILED DESCRIPTION OF THE INVENTION  
       [0020]    The foregoing and further features and objects of the invention will more readily be understood from the following detailed description of the invention, when taken in conjunction with the accompanying drawings in which:  
         [0021]    [0021]FIG. 1 is a view of the structure of fixed platform module;  
         [0022]    [0022]FIG. 2 is a view of the structure of 2-PSS limb module;  
         [0023]    [0023]FIG. 3 is a view of the structure of 2-PUS limb module;  
         [0024]    [0024]FIG. 4 is a view of the structure of 2-PUU limb module;  
         [0025]    [0025]FIG. 5 is a view of the structure of 1-PSS limb module;  
         [0026]    [0026]FIG. 6 is a view of the structure of 1-PUS limb module;  
         [0027]    [0027]FIG. 7 is a view of the structure of 1-PUU limb module;  
         [0028]    [0028]FIG. 8 is a view of the structure of moving platform module;  
         [0029]    [0029]FIG. 9 is a view of the structure of driver module;  
         [0030]    [0030]FIG. 10 is a view of the structure of 6-PSS(6-DOF) decoupling structure modular parallel micromanipulator;  
         [0031]    [0031]FIG. 11 is a view of the structure of 4-PSS&amp;1-PUU(5-DOF) decoupling structure modular parallel micromanipulator;  
         [0032]    [0032]FIG. 12 is a view of the structure of 3-PUU&amp;1-PSS(4-DOF) decoupling structure modular parallel micromanipulator;  
         [0033]    [0033]FIG. 13 is a view of the structure of 3-PUU(3-DOF) decoupling structure modular parallel micromanipulator;  
         [0034]    [0034]FIG. 14 is a view of the structure of 6-PUS(6-DOF) decoupling structure modular parallel micromanipulator. 
     
    
     EXAMPLE 1  
       [0035]    The structures of all the modules are shown in FIG. 1, FIG. 2, FIG. 3, FIG. 4, FIG. 5, FIG. 6, FIG. 7, FIG. 8 and FIG. 9.  
         [0036]    The structure of the fixed platform module is shown in FIG. 1. It has three reciprocal orthogonal mounting surfaces  2 ,  3  and  4 . On each mounting surface, there are connecting holes through which the fixed platform can be connected with the limb modules.  
         [0037]    The structure of 2-PSS limb module shown in FIG. 2 is integrated two same direct kinetic limbs each of which consists of one flexible prismatic pair, one link and two flexible spherical joints into one. The two flexible prismatic pairs  9  and  14  of the 2-PSS limb module are fixed parallel on the chassis  10  on which there are connecting holes. Additionally, the axes of the two links  7  and  12  are parallel, at the end of which are connected with flexible spherical joints  6  and  8 ,  11  and  13  respectively. Two flexible spherical joints  8  and  13  are mounted on the two flexible prismatic pairs  9  and  14 , and the other two flexible spherical joints  6  and  11  are fixed on the quadrate strut  5  which would be utilized to connect with the moving platform.  
         [0038]    The structure of 2-PUS limb module shown in FIG. 3 is integrated two same direct kinetic limbs each of which consists of one flexible prismatic pair, one link, one flexible universal joint and one flexible spherical joint into one. The two flexible prismatic pairs  19  and  24  of the 2-PUS limb module are fixed parallel on the chassis  20  on which there are connecting holes. Additionally, the axes of the two links  17  and  22  are parallel, at the end of which are connected with one flexible universal joint and one flexible spherical joint  18  and  16 ,  23  and  21  respectively. The two flexible universal joints  18  and  23  are mounted on the two flexible prismatic pairs  19  and  24 , and the two flexible spherical joints  16  and  21  are fixed on the quadrate strut  15  which would be utilized to connect with the moving platform.  
         [0039]    The structure of 2-PUU limb module shown in FIG. 4 is integrated two same direct kinetic limbs each of which consists of one flexible prismatic pair, one link and two flexible universal joints into one. The two flexible prismatic pairs  29  and  34  of the 2-PUU limb module are fixed parallel on the chassis  30  on which there are connecting holes. Additionally, the axes of the two links  27  and  32  are parallel, at the end of which are connected with flexible universal joints  28  and  26 ,  33  and  31  respectively. Two flexible universal joints  28  and  33  are mounted on the two flexible prismatic pairs  29  and  34 , and the other two flexible universal joints  26  and  31  are fixed on the quadrate strut  25  which would be utilized to connect with the moving platform.  
         [0040]    The structure of 1-PSS limb module shown in FIG. 5 is one kinetic limb which integrates with one flexible prismatic pair, one link and two flexible spherical joints. The flexible prismatic pair  39  of the 1-PSS limb module is fixed on the chassis  40  on which there are connecting holes. Additionally, the two flexible spherical joints  36  and  38  are fixed at the two end of link  37  respectively. One flexible spherical joint  38  is mounted on the flexible prismatic pair  39 , and the other flexible spherical joint  36  is fixed on the quadrate strut  35  which would be utilized to connect with the moving platform.  
         [0041]    The structure of 1-PUS limb module shown in FIG. 6 is one kinetic limb which integrates with one flexible prismatic pair, one link, one flexible universal joint and one flexible spherical joint. The flexible prismatic pair  45  of the 1-PUS limb module is fixed on the chassis  46  on which there are connecting holes. Additionally, the flexible universal joint  44  and the flexible spherical joint  42  are fixed at the two end of link  43  respectively. The flexible universal joint  44  is mounted on the flexible prismatic pair  45 , and the flexible spherical joint  42  is fixed on the quadrate strut  41  which would be utilized to connect with the moving platform.  
         [0042]    The structure of 1-PUU limb module shown in FIG. 7 is one kinetic limb which integrates with one flexible prismatic pair, one link and two flexible universal joints. The flexible prismatic pair  51  of the 1-PUU limb module is fixed on the chassis  52  on which there are connecting holes. Additionally, the two flexible universal joints  50  and  48  are fixed at the two end of link  49  respectively. One flexible universal joint  50  is mounted on the flexible prismatic pair  51 , and the other flexible universal joint  48  is fixed on the quadrate strut  47  which would be utilized to connect with the moving platform.  
         [0043]    The moving platform module  55  shown in FIG. 8 would be the moving platform of micromanipulator. It is a cube with six quadrate notches  53 ,  54 ,  56 ,  57 ,  58  and  59  on its three reciprocal orthogonal mounting surfaces which would be utilized to connect with the limb modules.  
       EXAMPLE 2  
       [0044]    The structure of the 6-PSS(6-DOF) decoupling structure modular parallel micromanipulator is shown in FIG. 10. The chassis of the three 2-PSS limb modules  64 ,  70  and  73  are installed on the three reciprocal orthogonal mounting surfaces of the fixed platform module  66  through three groups of standardized components  62 ,  68  and  71  respectively. What&#39;s more, it would be sure that the quadrate struts of the limb modules  64 ,  70  and  73  are reciprocal orthogonal. Thus the link axes of the three limb modules noted 2-PSS are arranged reciprocal orthogonally. The three quadrate struts of the 2-PSS limb modules  64 ,  70  and  73  and the three quadrate notches of the moving platform module  65  are matched reciprocally and are mounted together by the standardized components. Six drivers  61 ,  63 ,  67 ,  69 ,  72  and  74  are installed between the flexible place of the limb module&#39;s prismatic pairs and the chassis respectively. The six piezoelectric ceramic drivers drive the six flexible prismatic pairs and the moving platform could have six dimensions decoupling motion: translation along axis x, y or z and rotation about axis x, y or z.  
       EXAMPLE 3  
       [0045]    The structure of the 4-PSS&amp;1-PUU(5-DOF) decoupling structure modular parallel micromanipulator is shown in FIG. 11. The chassis of two 2-PSS limb modules  83  and  86  and one 1-PUU limb module  75  are installed on the three reciprocal orthogonal mounting surfaces of the fixed platform module  79  through three groups of standardized components  82 ,  84  and  77  respectively. What&#39;s more, it would be sure that the axes of the quadrate struts of the two 2-PSS limb modules  83  and  86  are oriented the axis x, and the axes of the quadrate strut of the 1-PUU limb module  75  is oriented the axis z. Thus the link axes of the three limb modules  75 ,  83  and  86  are arranged reciprocal orthogonally. The quadrate struts of the three limb modules and the three quadrate notches of the moving platform module  78  are matched reciprocally and are mounted together by the standardized components. Five drivers  80 ,  81 ,  85 ,  87  and  76  are installed between the flexible place of the limb module&#39;s prismatic pairs and the chassis respectively.  
         [0046]    The five piezoelectric ceramic drivers drive the five flexible prismatic pairs and the moving platform could have five dimensions decoupling motion: translation along axis x, y or z and rotation about axis y or z.  
         [0047]    If the two 2-PSS limb modules mentioned above are substituted by two 2-PUS limb modules, the reconfigured parallel micromanipulator noted 4-PUS&amp;1-PUU(5-DOF) has the same kinetic characteristics to the 4-PSS&amp;1-PUU(5-DOF) decoupling structure modular parallel micromanipulator.  
       EXAMPLE 4  
       [0048]    The structure of 3-PUU&amp;1-PSS(4-DOF) decoupling structure modular parallel micromanipulator is shown in FIG. 12. The chassis of the 2-PUU limb module  96 , the 1-PUU limb module  97  and the 1-PSS limb module  88  are installed on the three reciprocal orthogonal mounting surfaces of the fixed platform module  92  through three groups of standardized components  94 ,  98  and  90  respectively. What&#39;s more, it would be sure that the axes of the quadrate strut of the 2-PUU limb module  96  is oriented the axis y and the axes of the quadrate struts of the 1-PUU limb module  97  and the 1-PSS limb module  88  are oriented the axis z. Thus the link axes of the three limb modules  96 ,  97  and  88  are arranged reciprocal orthogonally. The quadrate struts of the three limb modules and the three quadrate notches of the moving platform module  91  are matched reciprocally and are mounted together by the standardized components. Four drivers  93 ,  95 ,  99  and  89  are installed between the flexible place of the limb module&#39;s prismatic pairs and the chassis respectively.  
         [0049]    The four piezoelectric ceramic drivers drive the four flexible prismatic pairs and the moving platform could have four dimensions decoupling motion: translation along axis x, y or z and rotation about axis x.  
         [0050]    If the 1-PSS limb module mentioned above is substituted by the 1-PUS limb module, the reconfigured parallel micromanipulator noted 3-PUU&amp;1-PUS(4-DOF) has the same kinetic characteristics to the 3-PUU&amp;1-PSS(4-DOF) decoupling structure modular parallel micromanipulator.  
       EXAMPLE 5  
       [0051]    The structure of the 3-PUU(3-DOF) decoupling structure modular parallel micromanipulator is shown in FIG. 13. The chassis of three 1-PUU limb modules  100 ,  107  and  108  are installed on the three reciprocal orthogonal mounting surfaces of the fixed platform module  104  through three groups of standardized components  102 ,  106  and  109  respectively. What&#39;s more, it would be sure that the axis of the quadrate strut of the 1-PUU limb module  107  is oriented the axis y and the axes of the quadrate struts of the two 1-PUU limb modules  100  and  108  are oriented the axis z. Thus the link axes of the three 1-PUU limb modules are arranged reciprocal orthogonally. The quadrate struts of the three 1-PUU limb modules  100 ,  107  and  108  and the three quadrate notches of the moving platform module  103  are matched reciprocally and are mounted together by the standardized components. Three drivers  101 ,  105  and  110  are installed between the flexible place of the limb module&#39;s prismatic pairs and the chassis respectively.  
         [0052]    The three piezoelectric ceramic drivers drive the three flexible prismatic pairs and the moving platform could have three dimensions decoupling motion: translation along axis x, y or z.  
       EXAMPLE 6  
       [0053]    The structure of the 6-PUS(6-DOF) decoupling structure modular parallel micromanipulator is shown in FIG. 14. In fact this structure can be easily reconfigured substituted the 2-PUS limb modules for the 2-PSS limb modules of the 6-PSS decoupling structure modular parallel micromanipulator. Both structures have the same kinetic characteristics. The chassis of three 2-PUS limb modules  114 ,  120  and  123  are installed on the three reciprocal orthogonal mounting surfaces of the fixed platform module  116  through three groups of standardized components  112 ,  118  and  121  respectively. What&#39;s more, it would be sure that the quadrate struts of the limb modules  114 ,  120  and  123  are reciprocal orthogonal. Thus the link axes of the three 2-PUS limb modules  114 ,  120  and  123  are arranged reciprocal orthogonally. The three quadrate struts of the 2-PUS limb modules  114 ,  120  and  123  and the three quadrate notches of the moving platform module  115  are matched reciprocally and are mounted together by the standardized components. Six drivers  111 ,  113 ,  117 ,  119 ,  122  and  124  are installed between the flexible place of the limb module&#39;s prismatic pairs and the chassis respectively.  
         [0054]    The six piezoelectric ceramic drivers drive the six flexible prismatic pairs and the moving platform could have six dimensions decoupling motion: translation along axis x, y or z and rotation about axis x, y or z.