Robot for controlling position of motion platform and bio-stimulation system having the same
A bio-stimulation robot includes a stationary platform, a plurality of drive modules coupled to the stationary platform, and a motion platform coupled to the drive modules to operate to change a position of the motion platform. Each of the drive modules includes a first guide member having an arc shape, a motion member coupled to the first guide, and a leg member having a first end coupled to the motion member and a second end fixed to the motion platform. The motion member slides along the first guide member. The second end of the leg member is rotatably connected to the motion platform. The second end of the leg member is rotatably connected to the motion platform.
1. A robot comprising:
a stationary platform;
a plurality of drive modules coupled to the stationary platform; and
a motion platform coupled to the drive modules to operate to change a position of the motion platform,
wherein each of the drive modules includes
a first guide member having an arc shape,
a motion member coupled to the first guide member, and
a leg member having a first end coupled to the motion member and a second end fixed to the motion platform,
wherein the leg member is able to be stretched or contracted in a longitudinal direction thereof,
wherein first ends of leg members in the drive modules are rotatably connected to corresponding motion members, respectively,
wherein second ends of leg members in the drive modules are rotatably connected to the motion platform,
wherein respective motion members in the drive modules are configured to be independently moved along corresponding first guide members and respective leg members in the drive modules are configured to be independently stretched or contracted so as to change a position of the motion platform,
wherein the first end of the leg member is connected to the motion member so as to be rotated in two-directions with respect to the motion member by a first 2-axis universal joint,
wherein the first universal joint has a first rotation axis extending parallel with a tangential direction of an arc of the first guide member, and a second rotation axis perpendicular to the first rotation axis and extending in the longitudinal direction of the leg member.
2. The robot according to claim 1 , wherein the second end of the leg member is connected to the motion platform so as to be rotated in two-directions with respect to the motion platform by a second 2-axis universal joint,
wherein the second universal joint has a third rotation axis extending parallel with the first rotation axis, and a fourth rotation axis perpendicular to the second rotation axis and the third rotation axis.
3. The robot according to claim 1 , wherein the first guide members of the drive modules are disposed parallel with each other.
4. The robot according to claim 3 , wherein each of the drive modules further includes a second guide member disposed parallel with the first guide member,
wherein the second guide member has an arc shape corresponding to that of the first guide member, and
wherein the motion member is moved along the first and second guide members.
5. The robot according to claim 4 , wherein the first guide member has a toothed part,
wherein a rotation shaft rotating with the action of a curving driver is rotatably connected to the motion member, and
wherein the rotation shaft is circumferentially provided with a pinion meshed with the toothed part, whereby, when the rotation shaft rotates with the action of the curving driver, the pinion rotates while being meshed with the toothed part so that the motion member is moved along the first guide member.
6. The robot according to claim 5 , wherein the motion member includes a frame rotatably supporting the rotation shaft and a motion part connected to the frame and coupled to the second guide member so as to be moved along the second guide member.
7. The robot according to claim 1 , wherein the robot includes a translation driver stretching or contracting the leg member in the longitudinal direction.
8. The robot according to claim 1 , wherein the drive modules are connected to the stationary platform while being fixed to a rotation frame able to be rotated about the stationary platform.
9. A bio-stimulation system comprising:
a robot according to claim 1 ; and
a stimulator coupled to the motion platform and configured to apply a stimulus to a patient, whereby the stimulator is configured to be moved to a stimulation position of the patient according to a change in position of the motion platform.
10. The bio-stimulation system according to claim 9 , wherein the stimulator is a magnetic stimulator configured to apply a magnetic force to the patient, an electric stimulator configured to apply an electric current to the patient, or an ultrasonic stimulator configured to apply ultrasonic waves to the patient.
11. The bio-stimulation system according to claim 9 , wherein the bio-stimulation system is a brain-stimulation system configured to stimulate a brain of the patient.
12. The bio-stimulation system according to claim 9 , wherein markers are attached to the stimulator and are configured to be attached to the patient, the markers are configured to be identified by an optical tracker, whereby a change in relative position between the stimulator and the patient in response to a motion of the patient is detectable through the markers, and wherein the drive modules are configured to be controlled to compensate for the motion of the patient.
13. A bio-stimulation system comprising:
a robot according to claim 2 ; and
a stimulator coupled to the motion platform and configured to apply a stimulus to a patient, whereby the stimulator is configured to be moved to a stimulation position of the patient according to a change in position of the motion platform.
14. A bio-stimulation system comprising:
a robot according to claim 3 ; and
a stimulator coupled to the motion platform and configured to apply a stimulus to a patient, whereby the stimulator is configured to be moved to a stimulation position of the patient according to a change in position of the motion platform.
15. A bio-stimulation system comprising:
a robot according to claim 4 ; and
a stimulator coupled to the motion platform and configured to apply a stimulus to a patient, whereby the stimulator is configured to be moved to a stimulation position of the patient according to a change in position of the motion platform.
16. A bio-stimulation system comprising:
a robot according to claim 5 ; and
a stimulator coupled to the motion platform and configured to apply a stimulus to a patient, whereby the stimulator is configured to be moved to a stimulation position of the patient according to a change in position of the motion platform.
17. A bio-stimulation system comprising:
a robot according to claim 6 ; and
a stimulator coupled to the motion platform and configured to apply a stimulus to a patient, whereby the stimulator is configured to be moved to a stimulation position of the patient according to a change in position of the motion platform.
18. A bio-stimulation system comprising:
a robot according to claim 7 ; and
a stimulator coupled to the motion platform and configured to apply a stimulus to a patient, whereby the stimulator is configured to be moved to a stimulation position of the patient according to a change in position of the motion platform.