Application and method for positioning and orientating a load
An apparatus and method for positioning and orientating a load includes a support structure movable in a first direction a tendon system having at least six winches mounted on the structure and at least six tendons connected to the winches, and a lifting mechanism mounted on the structure. The lifting mechanism includes another tendon and is movable in a second direction perpendicular to the first. The apparatus includes a component suspending the load from above and is connected to a second end of each of the tendons and to a free end of the additional tendon. The apparatus further includes a control module for translating synchronously and independently an instruction regarding the load in an actuation over the winches, over the lifting mechanism and the support structure, such that at least 51% of the load is sustained by the lifting mechanism and the load is suspended from the further tendon.
1. An apparatus for positioning and orientating a load, the apparatus comprising:
a support structure movable in a first direction, the support structure establishes an area within which the load can be positioned and orientated;
a tendon system comprising:
at least six winches directly mounted on the support structure; and
at least six tendons, a first end of each of the at least six tendons being connected to a respective one of the at least six winches;
wherein the apparatus further comprises:
a lifting mechanism mounted on the support structure and movable in a second direction which is perpendicular to the first direction, the lifting mechanism comprising a further tendon;
attachment means whereto the load is attachable to suspend from above, the attachment means being connected to a second end of each of the at least six tendons and to a free end of the further tendon; and,
a control module being capable of synchronously and independently operating:
over the at least six winches so as to adjust the free length of and/or tension supported by the tendon connected to the respective winch,
the support structure so as to control its movement in the first direction, and
the lifting mechanism so as to control its movement in the second direction and the lifting mechanism so as to adjust the free length of and/or tension supported by the further tendon connected to the lifting mechanism,
whereby the apparatus provides control of the load in the six degrees of freedom; wherein the control module is configured to translate an instruction regarding the orientation and/or the position of the load in an actuation of the at least six winches, of the lifting mechanism and of the support structure, such that at least 51% of the load is sustained by the lifting mechanism and the load is suspended from the further tendon which is substantially vertical.
2. The apparatus of claim 1 , wherein the attachment means are spatially arranged when attached to the load, such that a projection onto a plane defined by the first and second directions of each of the at least six tendons intersects with another one of the projections of the at least six tendons, this configuration being called cross-linked.
3. The apparatus of claim 1 , which further comprises a three-dimensional attachment member or an attachment member in the form of a platform attached to the attachment means, which are distributed in parallel planes or in a same plane, respectively.
4. The apparatus of claim 1 , wherein the attachment means are located at the respective second end of the at least six tendons and to the free end of the further tendon.
5. The apparatus of claim 1 , wherein the instruction regarding the orientation and/or the position of the load is given by a pre-established trajectory, or manually by remote control.
6. The apparatus of claim 1 , wherein the lifting mechanism is mounted on a moving structure which is in turn mounted on the support structure.
7. The apparatus of claim 1 , wherein the tendon system comprises:
at least eight winches; and
at least eight tendons, each of the at least eight tendons being connected to a respective one of the at least eight winches.
8. The apparatus of claim 7 , wherein the at least six or the at least eight winches are distributed in at least three or four pairs of winches.
9. The apparatus of claim 8 , wherein the attachment means are spatially arranged when attached to the load, such that a projection onto a plane defined by the first and second directions of one tendon connected to a winch intersects with the projection of the tendon connected to a winch which is in the closest pair of winches.
10. The apparatus of claim 2 , which further comprises a three-dimensional attachment member or an attachment member in the form of a platform attached to the attachment means, which are distributed in parallel planes or in a same plane, respectively.
11. The apparatus of claim 2 , wherein the attachment means are located at the respective second end of the at least six tendons and to the free end of the further tendon.
12. The apparatus of claim 2 , wherein the instruction regarding the orientation and/or the position of the load is given by a pre-established trajectory, or manually by remote control.
13. A method for positioning and orienting a load, the method including the following steps:
attaching the load to attachment means of an apparatus for positioning and orientating a load, the apparatus comprising a support structure, and a tendon system and a lifting mechanism mounted on the support structure; the attachment means being connected to at least six tendons of the tendon system and to the lifting mechanism, each of the at least six tendons being connected to a respective one of at least six winches, each of the at least six winches being directly mounted on the support structure or being attached to a support secured to the support structure; and,
suspending the load from a free end of a further tendon of the lifting mechanism,
translating an instruction regarding the orientation and/or the position of the load in an actuation of the at least six winches ( 104 ), of the lifting mechanism and of the support structure such that at least 51% of the load is sustained by the lifting mechanism and the load is suspended in a substantially vertical manner by synchronously and independently operating:
the at least six winches so to adjust the free length of and/or tension supported by the tendon connected to the respective winch,
the support structure so as to control its movement in the first direction, and
the lifting mechanism so as to control its movement in the second direction and the lifting mechanism so as to adjust the free length of and/or tension supported by the further tendon connected to the lifting mechanism,
which provides control of the load in the six degrees of freedom.
14. The method of claim 13 , which further comprises spatially attaching the attachment means to the load such that the at least six tendons are cross-linked, such that a projection onto a plane defined by the first and second directions of each of the at least six tendons intersects with another one of the projections of the at least six tendons, that is in cross-linked configuration.
15. The method of claim 13 , wherein the instruction regarding the orientation and/or the position of the load is translated firstly in an actuation of the at least six winches and subsequently of the lifting mechanism and of the support structure.
16. The method of claim 13 , wherein the instruction regarding the orientation and/or the position of the load is translated firstly in an actuation of the lifting mechanism and subsequently of the at least six winches and of the support structure.
17. The method of claim 13 , wherein the method comprises attaching the load to attachment means which are connected to at least eight tendons of the tendon system, each of the at least eight tendons being connected to a respective one of at least eight winches.
18. An apparatus for positioning and orientating a load, the apparatus comprising:
a support structure movable in a first direction, the support structure establishes an area within which the load can be positioned and orientated;
a tendon system comprising:
at least six winches, each of the winches is attached to a support secured to the support structure; and
at least six tendons, a first end of each of the at least six tendons being connected to a respective one of the at least six winches;
wherein the apparatus further comprises:
a lifting mechanism mounted on the support structure and movable in a second direction which is perpendicular to the first direction, the lifting mechanism comprising a further tendon;
attachment means whereto the load is attachable to suspend from above, the attachment means being connected to a second end of each of the at least six tendons and to a free end of the further tendon; and,
a control module being capable of synchronously and independently operating:
the at least six winches so as to adjust the free length of and/or tension supported by the tendon connected to the respective winch,
the support structure so as to control its movement in the first direction, and
the lifting mechanism so as to control its movement in the second direction and the lifting mechanism so as to adjust the free length of and/or tension supported by the further tendon connected to the lifting mechanism,
whereby the apparatus provides control of the load in the six degrees of freedom; wherein the control module is configured to translate an instruction regarding the orientation and/or the position of the load in an actuation of the at least six winches, of the lifting mechanism and of the support structure, such that at least 51% of the load is sustained by the lifting mechanism and the load is suspended from the further tendon which is substantially vertical.
19. The apparatus of claim 18 , wherein the attachment means are spatially arranged when attached to the load, such that a projection onto a plane defined by the first and second directions of each of the at least six tendons intersects with another one of the projections of the at least six tendons, this configuration being called cross-linked.
20. The apparatus of claim 18 , wherein the lifting mechanism is mounted on a moving structure which is in turn mounted on the support structure.
21. The apparatus of claim 18 , wherein the tendon system comprises:
at least eight winches; and
at least eight tendons, each of the at least eight tendons being connected to a respective one of the at least eight winches.
22. The apparatus of claim 20 , wherein the at least six or the at least eight winches are distributed in at least three or four pairs of winches.
23. The apparatus of claim 22 , wherein the attachment means are spatially arranged when attached to the load, such that a projection onto a plane defined by the first and second directions of one tendon connected to a winch intersects with the projection of the tendon connected to a winch which is in the closest pair of winches.