| Paper | Title | Page |
|---|---|---|
| WEPH21 | A Family of Redundant Positioning Devices for Synchrotron Applications | 249 |
|
||
|
A family of reconfigurable devices able to work in synchrotron applications, especially in diffractometer environments has been developed. It can provide six (6) or less than six (<6) degrees of freedom (dof) motion capabilities (F<=6) being able to pose a heavy load sample (instruments) with high precision towards an X-ray coming beam. It is based on the Parallel Kinematics (PK) Quatropod concept with redundant actuation (Rd=2) and were built around the fully (F=6dof) basic topology 6-4(213) where 2-actuated and 1, 3-passive joints, respectively. By altering the passive joints dof, structures with less than six dof (F<6) can be obtained, e.g. 5-4[213(2)]/F=5, 4-4[213(1)]/F=4, 3-4[213(0)]/F=3 (3(2) and 3(1)and 3(0) stand for 3dof joint with constrained(less) dof - f=2, 1 or 0/blocked). For a perfect symmetric arrangement and using only P and S (P-prismatic, S-spherical) joints, several useful positioning mechanisms are presented. And, in the design phase, 2dof linear actuators(2P), e.g. XY stages have been proved to be a suitable choice, too.
* J.P. Merlet, Parallel Robots Springer (2ed), 2006 ** G. Olea, D 202014 011 139 U1, DPMA, 2018 *** HUBER GmbH, Diff. & Positioning Products, www.xhuber.com, 2018 |
||
| DOI • | reference for this paper ※ https://doi.org/10.18429/JACoW-MEDSI2018-WEPH21 | |
| Export • | reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml) | |