Multi-DOF moving stage and display apparatus including the same
A multi-degree of freedom (DOF) moving stage includes: an end-effector; three driven links pivotably connected to the end-effector at angular intervals from each other; three driving links pivotably connected to the three driven links, respectively; and three actuators configured to drive the three driving links, respectively. Each of the three driven links includes first to fourth arms arranged at intervals; and a flexible member that connects the first to fourth arms to each other in a parallelogram shape across the intervals and forms pivotable joints at the intervals.
1. A multi-degree of freedom (DOF) moving stage comprising:
an end-effector;
three driven links pivotably connected to the end-effector at angular intervals from each other, wherein an interval between a first driven link and a second driven link of the three driven links is 90 degrees, and an interval between the first driven link and a third driven link of the three driven links is 90 degrees;
three driving links pivotably connected to the three driven links, respectively; and
three actuators configured to drive the three driving links, respectively,
wherein each of the three driven links respectively comprises:
a first arm, a second arm, a third arm and a fourth arm arranged at intervals; and
a flexible member that connects the first, second, third and fourth arms to each other in a parallelogram shape across the intervals, that forms pivotable joints at the intervals, and that is pivotably connected to the end-effector,
wherein for each of the three driven links, the first arm is pivotably connected to the end-effector, the third arm facing the first arm is pivotably connected to the respective driving link, and the second arm and the fourth arm have a hollow prism shape,
wherein each of the second arm and the fourth arm comprises a first plate member, a second plate member and a third plate member that are arranged on the flexible member, and
wherein the flexible member comprises a first bendable portion that connects the first plate member and the second plate member, and a second bendable portion that connects the first plate member and the third plate member.
2. The multi-DOF moving stage of claim 1 , wherein at least one of the three driving links has a length different from a length of each of the other two driving links.
3. The multi-DOF moving stage of claim 1 , wherein, from among the three driving links, two driving links are arranged at a 180-degree interval from each other,
wherein each of the two driving links has a first length, and
wherein the other driving link of the three driving links has a second length different from the first length.
4. The multi-DOF moving stage of claim 3 , wherein each of the three driven links has a same length.
5. The multi-DOF moving stage of claim 1 , wherein at least one of the three driven links has a length different from a length of each of the other two driven links.
6. The multi-DOF moving stage of claim 1 , wherein the intervals between adjacent ones of the first, second, third and fourth arms have a linear strip shape.
7. The multi-DOF moving stage of claim 1 , wherein the intervals between adjacent ones of the first, second, third and fourth arms have an uneven shape.
8. The multi-DOF moving stage of claim 1 , wherein the flexible member comprises an elastic member.
9. The multi-DOF moving stage of claim 1 , wherein the first driven link is configured to pivot at a first axis parallel to a first direction, the second driven link is configured to pivot at a second axis parallel to a second direction, and the third driven link is configured to pivot at a third axis parallel to the second direction, and
wherein the second direction is perpendicular to the first direction.
10. A multi-degree of freedom (DOF) moving stage comprising:
an end-effector;
a plurality of driven links, each of the plurality of driven links respectively comprising:
a first arm, a second arm, a third arm, and a fourth arm arranged at intervals; and
a flexible member that connects the first, second, third and fourth arms to each other in a parallelogram shape across the intervals, that forms pivotable joints at the intervals, and that is pivotably connected to the end-effector;
a plurality of driving links pivotably connected to the plurality of driven links, respectively; and
a plurality of actuators configured to drive the plurality of driving links, respectively,
wherein at least one of the first, second, third and fourth arms of at least one of the plurality of driven links has a hollow prism shape,
wherein the at least one of the first, second, third and fourth arms comprises a first plate member, a second plate member and a third plate member that are arranged on the flexible member, and
wherein the flexible member comprises a first bendable portion that connects the first plate member and the second plate member, and a second bendable portion that connects the first plate member and the third plate member.
11. The multi-DOF moving stage of claim 10 , wherein for each of the plurality of driven links, the first arm is pivotably connected to the end-effector, the third arm facing the first arm is pivotably connected to the respective driving link, and the second arm and the fourth arm have the hollow prism shape.
12. The multi-DOF moving stage of claim 10 , wherein a length of at least one of the plurality of driving links is different from a length of each of the other two driving links.
13. The multi-DOF moving stage of claim 12 , wherein each of the plurality of driven links has a same length.
14. The multi-DOF moving stage of claim 10 , wherein the plurality of driven links comprise three driven links connected to the end-effector, and the plurality of driving links comprise three driving links respectively connected to the three driven links, and
wherein an interval between a first driven link and a second driven link of the three driven links is 90 degrees, and an interval between the first driven link and a third driven link of the three driven links is 90 degrees.
15. A display apparatus comprising:
a first light source configured to provide left-eye image light;
a first multi-degree of freedom (DOF) moving stage configured to adjust a position of the first light source;
a second light source configured to provide right-eye image light;
a second multi-DOF moving stage configured to adjust a position of the second light source; and
an optical system configured to provide the left-eye image light and the right-eye image light to a left eye and a right eye of a viewer, respectively,
wherein the first multi-DOF moving stage and the second multi-DOF moving stage each comprise:
an end-effector on which a light source is mounted;
three driven links pivotably connected to the end-effector at angular intervals from each other, wherein an interval between a first driven link and a second driven link of the three driven links is 90 degrees, and an interval between the first driven link and a third driven link of the three driven links is 90 degrees;
three driving links pivotably connected to the three driven links, respectively; and
three actuators configured to drive the three driving links, respectively,
wherein each of the three driven links respectively comprises:
a first arm, a second arm, a third arm and a fourth arm arranged at intervals; and
a flexible member that connects the first, second, third and fourth arms to each other in a parallelogram shape across the intervals, that forms pivotable joints at the intervals, and that is pivotably connected to the end-effector,
wherein for each of the three driven links, the first arm is pivotably connected to the end-effector, the third arm facing the first arm is pivotably connected to the respective driving link, and the second arm and the fourth arm have a hollow prism shape,
wherein each of the second arm and the fourth arm comprises a first plate member, a second plate member and a third plate member that are arranged on the flexible member, and
wherein the flexible member comprises a first bendable portion that connects the first plate member and the second plate member, and a second bendable portion that connects the first plate member and the third plate member.
16. The display apparatus of claim 15 , wherein for each of the first multi-DOF moving stage and the second multi-DOF moving stage, at least one of the three driving links has a length different from a length of each of the other two driving links.
17. The display apparatus of claim 15 , wherein for each of the first multi-DOF moving stage and the second multi-DOF moving stage, two driven links of the three driven links are arranged in a first axis direction, and
wherein the two driven links of the first multi-DOF moving stage and the two driven links of the second multi-DOF moving stage are arranged adjacent to each other.