IP Library › Granted Patent US 11,331,789
Granted Patent B2
US 11,331,789 · App. 14/727,851 · Granted May 17, 2022

Positioning system

Inventor: James Douglass Penn (Cambridge, MA)
B25J9/023B25J9/026B25J9/1045F16H2019/069Y10S901/21Y10T74/20341Y10T74/20354
View Patent ↗
Loading inventors, assignments & file history…
Monitor This Case
Get email alerts when status or documents change.
Order Certified Copies
Most orders are placed with the USPTO same day — all within 24 business hours.
Order via The Patent Place →
Pre-filled with this patent's details
Quick Facts
Patent No.
US 11,331,789
App. No.
14/727,851
Granted
May 17, 2022
Kind
B2
Abstract

A system and method for a planar positioning system for an output member, the system having a pair of x-coordinate linear carriages and a pair of y-coordinate linear carriages. The system has a guide mechanism for the pair of x-coordinate linear carriages and the pair of y-coordinate linear carriages. The system has a plurality of movement and constraining cables extending from the pair of x-coordinate linear carriages and the pair of y-coordinate linear carriages to the output member for driving the output, wherein the pair of x-coordinate linear carriages and the output member move in sync in the x-direction and the pair of y-coordinate linear carriages and the output member move in sync in the y-direction. A restraint mechanism restrains the output member in an additional degree of freedom besides the x- and y-directions. The restraint can be a cable uptake and release device.

Claims (182)

1. A positioning system for an output member comprising:

a pair of x-coordinate linear carriages;

a pair of y-coordinate linear carriages;

a linear guide mechanism for each x-coordinate linear carriage and eachy-coordinate linear carriage; and

a plurality of cables, at least a portion of the cables being arranged to cause the pair of x-coordinate linear carriages and the output member to move in sync in the x-direction and the pair of y-coordinate linear carriages and the output member to move in sync in the y-direction, wherein movement in sync is movement in the same direction at the same rate, and wherein one or more of the portion of the plurality of cables extend from the pairs of x-coordinate and y-coordinate linear carriages to the output member;

wherein the plurality of cables includes at least one cable having a centerline extending away from the output member in a direction having a z-direction component.

2. A positioning system for an output member comprising:

a pair of x-coordinate linear carriages;

a pair of y-coordinate linear carriages;

a linear guide mechanism for each x-coordinate linear carriage and each y-coordinate linear carriage; and

a plurality of cables, at least a portion of the cables being arranged to cause the pair of x-coordinate linear carriages and the output member to move in sync in the x-direction and the pair of y-coordinate linear carriages and the output member to move in sync in the y-direction, wherein movement in sync is movement in the same direction at the same rate, and wherein one or more of the portion of the plurality of cables extend from the pairs of x-coordinate and y-coordinate linear carriages to the output member;

wherein the plurality of cables includes

at least one cable having a centerline extending away from the output member in a first direction having a first z-coordinate, and

at least one cable having a centerline extending away from the output member in a second direction having a second z-coordinate different from the first z-coordinate.

3. A positioning system for an output member comprising:

a pair of x-coordinate linear carriages;

a pair of y-coordinate linear carriages;

a linear guide mechanism for each x-coordinate linear carriage and each y-coordinate linear carriage; and

a plurality of cables, at least a portion of the cables being arranged to cause the pair of x-coordinate linear carriages and the output member to move in sync in the x-direction and the pair of y-coordinate linear carriages and the output member to move in sync in they-direction, wherein movement in sync is movement in the same direction at the same rate, and wherein one or more of the portion of the plurality of cables extend from the pairs of x-coordinate and y-coordinate linear carriages to the output member;

wherein the plurality of cables includes at least nine linear segments of cable extending away from the output member, each linear cable segment extending from the output member to a respective one of the linear carriages.

4. A positioning system for an output member comprising:

a pair of x-coordinate linear carriages;

a pair of y-coordinate linear carriages;

a linear guide mechanism for each x-coordinate linear carriage and each y-coordinate linear carriage; and

a plurality of cables,

wherein

one or more of the plurality of cables extends from one or more of the x-coordinate linear carriages to the output member,

one or more of the plurality of cables extends from one or more of the y-coordinate linear carriages to the output member,

one or more of the plurality of cables is arranged to constrain movement of the output member in an additional degree of freedom other than the x- and y-directions, and

when movement of the output member in the additional degree of freedom is constrained by the one or more of the plurality of cables arranged to constrain movement of the output member in the additional degree of freedom, tension in one or more of the plurality of cables increases and simultaneously tension in one or more of the plurality of cables decreases.

5. The positioning system of claim 4 , wherein

at least a portion of the plurality of cables is arranged to cause the pair of x-coordinate linear carriages and the output member to move in sync in the x-direction and the pair of y-coordinate linear carriages and the output member to move in sync in the y-direction, and

movement in sync is movement in the same direction at the same rate.

6. The positioning system of claim 4 , wherein

the linear guide mechanisms are fixed in position relative to one another.

7. The positioning system of claim 4 , wherein

the linear guide mechanisms are arranged in a rectangle.

8. The positioning system of claim 4 , wherein

the linear guide mechanisms are linear rails.

9. The positioning system of claim 4 , further comprising:

one or more guide and change of direction devices on the output member configured to guide and change direction of one or more of the plurality of cables.

10. The positioning system of claim 9 , wherein

the one or more guide and change of direction devices are pulleys.

11. The positioning system of claim 4 , wherein

at least one of the plurality of cables is a closed loop.

12. The positioning system of claim 4 , wherein

at least one of the plurality of cables is arranged to constrain movement of the output member in the z-direction.

13. The positioning system of claim 4 , wherein

at least one of the plurality of cables is arranged to constrain movement of the output member with respect to at least one axis of rotation.

14. The positioning system of claim 4 , further comprising:

one or more rotational actuators fixed in position relative to the linear guide mechanisms.

15. The positioning system of claim 12 , wherein

one or more of the rotational actuators are configured to drive one or more additional degrees of freedom on the output member other than the x- and y-directions.

16. A positioning system for an output member comprising:

a pair of x-coordinate linear carriages;

a pair of y-coordinate linear carriages;

a linear guide mechanism for each x-coordinate linear carriage and each y-coordinate linear carriage; and

a plurality of cables,

wherein

one or more of the plurality of cables extends from one or more of the x-coordinate linear carriages to the output member,

one or more of the plurality of cables extends from one or more of the y-coordinate linear carriages to the output member, and

the plurality of cables includes at least one cable having a centerline extending away from the output member in a direction having a z-direction component.

17. The positioning system of claim 16 , wherein

at least a portion of the plurality of cables is arranged to cause the pair of x-coordinate linear carriages and the output member to move in sync in the x-direction and the pair of y-coordinate linear carriages and the output member to move in sync in the y-direction, and

movement in sync is movement in the same direction at the same rate.

18. The positioning system of claim 16 , wherein

the linear guide mechanisms are fixed in position relative to one another.

19. The positioning system of claim 16 , wherein

the linear guide mechanisms are arranged in a rectangle.

20. The positioning system of claim 16 , wherein

the linear guide mechanisms are linear rails.

21. The positioning system of claim 16 , further comprising:

one or more guide and change of direction devices on the output member configured to guide and change direction of one or more of the plurality of cables.

22. The positioning system of claim 21 , wherein

the one or more guide and change of direction devices are pulleys.

23. The positioning system of claim 16 , wherein

at least one of the plurality of cables is a closed loop.

24. The positioning system of claim 16 , wherein

at least one of the plurality of cables is arranged to constrain movement of the output member in the z-direction.

25. The positioning system of claim 16 , wherein

at least one of the plurality of cables is arranged to constrain movement of the output member with respect to at least one axis of rotation.

26. The positioning system of claim 16 , further comprising:

one or more rotational actuators fixed in position relative to the linear guide mechanisms.

27. The positioning system of claim 26 , wherein

one or more of the rotational actuators are configured to drive one or more additional degrees of freedom on the output member other than the x- and y-directions.

28. A positioning system for an output member comprising:

a pair of x-coordinate linear carriages;

a pair of y-coordinate linear carriages;

a linear guide mechanism for each x-coordinate linear carriage and each y-coordinate linear carriage; and

a plurality of cables,

wherein

one or more of the plurality of cables extends from one or more of the x-coordinate linear carriages to the output member,

one or more of the plurality of cables extends from one or more of the y-coordinate linear carriages to the output member, and

the plurality of cables includes

at least one cable having a centerline extending away from the output member in a first direction having a first z-coordinate, and

at least one cable having a centerline extending away from the output member in a second direction having a second z-coordinate different from the first z-coordinate.

29. The positioning system of claim 28 , wherein

at least a portion of the plurality of cables is arranged to cause the pair of x-coordinate linear carriages and the output member to move in sync in the x-direction and the pair of y-coordinate linear carriages and the output member to move in sync in the y-direction, and wherein movement in sync is movement in the same direction at the same rate.

30. The positioning system of claim 28 , wherein

the linear guide mechanisms are fixed in position relative to one another.

31. The positioning system of claim 28 , wherein

the linear guide mechanisms are arranged in a rectangle.

32. The positioning system of claim 28 , wherein

the linear guide mechanisms are linear rails.

33. The positioning system of claim 28 , further comprising:

one or more guide and change of direction devices on the output member configured to guide and change direction of one or more of the plurality of cables.

34. The positioning system of claim 33 , wherein

the one or more guide and change of direction devices are pulleys.

35. The positioning system of claim 28 , wherein

at least one of the plurality of cables is a closed loop.

36. The positioning system of claim 28 , wherein

at least one of the plurality of cables is arranged to constrain movement of the output member in the z-direction.

37. The positioning system of claim 28 , wherein

at least one of the plurality of cables is arranged to constrain movement of the output member with respect to at least one axis of rotation.

38. The positioning system of claim 28 , further comprising:

one or more rotational actuators fixed in position relative to the linear guide mechanisms.

39. The positioning system of claim 38 , wherein

one or more of the rotational actuators are configured to drive one or more additional degrees of freedom on the output member other than the x- and y-directions.

40. A positioning system for an output member comprising:

a pair of x-coordinate linear carriages;

a pair of y-coordinate linear carriages;

a linear guide mechanism for each x-coordinate linear carriage and each y-coordinate linear carriage; and

a plurality of cables,

wherein

one or more of the plurality of cables extends from one or more of the x-coordinate linear carriages to the output member,

one or more of the plurality of cables extends from one or more of the y-coordinate linear carriages to the output member, and

the plurality of cables includes at least nine linear segments of cable extending away from the output member, each linear cable segment extending from the output member to a respective one of the linear carriages.

41. The positioning system of claim 40 , wherein

at least a portion of the plurality of cables is arranged to cause the pair of x-coordinate linear carriages and the output member to move in sync in the x-direction and the pair of y-coordinate linear carriages and the output member to move in sync in the y-direction, and

movement in sync is movement in the same direction at the same rate.

42. The positioning system of claim 40 , wherein

the linear guide mechanisms are fixed in position relative to one another.

43. The positioning system of claim 40 , wherein

the linear guide mechanisms are arranged in a rectangle.

44. The positioning system of claim 40 , wherein

the linear guide mechanisms are linear rails.

45. The positioning system of claim 40 , further comprising:

one or more guide and change of direction devices on the output member configured to guide and change direction of one or more of the plurality of cables.

46. The positioning system of claim 45 , wherein

the one or more guide and change of direction devices are pulleys.

47. The positioning system of claim 40 , wherein

at least one of the plurality of cables is a closed loop.

48. The positioning system of claim 40 , wherein

at least one of the plurality of cables is arranged to constrain movement of the output member in the z-direction.

49. The positioning system of claim 40 , wherein

at least one of the plurality of cables is arranged to constrain movement of the output member with respect to at least one axis of rotation.

50. The positioning system of claim 40 , further comprising:

one or more rotational actuators fixed in position relative to the linear guide mechanisms.

51. The positioning system of claim 50 , wherein

one or more of the rotational actuators are configured to drive one or more additional degrees of freedom on the output member other than the x- and y-directions.

52. A positioning system for an output member comprising:

a pair of x-coordinate linear carriages;

a pair of y-coordinate linear carriages;

a linear guide mechanism for each x-coordinate linear carriage and each y-coordinate linear carriage;

a plurality of cables, at least a portion of the plurality of cables including a plurality of linear segments of cable extending away from the output member,

wherein

one or more of the plurality of linear cable segments extends from one or more of the x-coordinate linear carriages to the output member,

one or more of the plurality of linear cable segments extends from one or more of the y-coordinate linear carriages to the output member,

a plane includes two or more non-collinear centerlines of the plurality of linear cable segments, and

at least one of the plurality of linear cable segments has a centerline that is not in the plane.

53. The positioning system of claim 52 , wherein

at least a portion of the plurality of cables is arranged to cause the pair of x-coordinate linear carriages and the output member to move in sync in the x-direction and the pair of y-coordinate linear carriages and the output member to move in sync in the y-direction, and wherein movement in sync is movement in the same direction at the same rate.

54. The positioning system of claim 52 , wherein

the linear guide mechanisms are fixed in position relative to one another.

55. The positioning system of claim 52 , wherein

the linear guide mechanisms are arranged in a rectangle.

56. The positioning system of claim 52 , wherein

the linear guide mechanisms are linear rails.

57. The positioning system of claim 52 , further comprising:

one or more guide and change of direction devices on the output member configured to guide and change direction of one or more of the plurality of cables.

58. The positioning system of claim 57 , wherein

the one or more guide and change of direction devices are pulleys.

59. The positioning system of claim 52 , wherein

at least one of the plurality of cables is a closed loop.

60. The positioning system of claim 52 , wherein

at least one of the plurality of cables is arranged to constrain movement of the output member in the z-direction.

61. The positioning system of claim 52 , wherein

at least one of the plurality of cables is arranged to constrain movement of the output member with respect to at least one axis of rotation.

62. The positioning system of claim 52 , further comprising:

one or more rotational actuators fixed in position relative to the linear guide mechanisms.

63. The positioning system of claim 62 , wherein

one or more of the rotational actuators are configured to drive one or more additional degrees of freedom on the output member other than the x- and y-directions.

Continuity (2)
Provisional Application 62005329 · May 30, 2014
Related Publication 20150343632A1 · Dec 3, 2015
Cited By (3)
US 12,208,532 US 12,595,839 US 12,692,133