NL2034815B1

NL2034815B1 - Actuated leafspring hexapod

Info

Publication number: NL2034815B1
Application number: NL2034815A
Authority: NL
Inventors: Martijn Koers Tim; Michel Brouwer Dannis; Nijenhuis Marijn
Original assignee: Univ Twente; Integrated Mech Solutions B V
Priority date: 2023-05-12
Filing date: 2023-05-12
Publication date: 2024-12-02
Also published as: WO2024237783A1

Abstract

The invention provides a parallel manipulator element, the parallel manipulator element comprising a joint element, a (kinematic) strut and a ﬂexure element, wherein: (I) the ﬂexure element comprises (i) a ﬁrst element end (section) and a second element end (section), (ii) an element length LFE, (iii) an element width WFH, (iii) an element thickness TFE, Wherein the element length LFE and the element width WFE deﬁne an element plane (PE), and (iv) a longitudinal element axis (Al), and a width axis (A4), (II) the strut comprises a ﬁrst strut end, a second strut end, and a longitudinal strut axis (A3), wherein: (a) the longitudinal element axis (Al) and the strut axis (A3) deﬁne a translation plane (PT), and (b) the width axis (A4) is perpendicular to the longitudinal axis (Al) and parallel to the element plane (PE); (III) the joint element is connected to the second strut end, wherein the joint element is conﬁgured for connecting the strut to a dynamic movable obj ect, (IV) the second element end is connected to the ﬁrst strut end, wherein the strut axis (A3) and the element axis (Al) deﬁne an angle (d); (V) the ﬁrst element end is conﬁgured for connecting the ﬁexure element to a static object; (VI) the ﬂexure element is conﬁgured for (i) twisting around the longitudinal element axis (Al), (ii) rotating (bending) around the width axis (A4), and (iii) translating the second element end in a direction parallel to the translation plane (PT), when being connected to the static object at the ﬁrst element end and to the dynamic movable object with the joint element via the second element end.

Description

Actuated leafspring hexapod

FIELD OF THE INVENTION

The invention relates to a parallel manipulator element, especially for moving an object with six degrees of freedom. The invention further relates to a parallel manipulator system comprising the parallel manipulator element. The invention further relates to a use of the parallel manipulator element.

BACKGROUND OF THE INVENTION

WO2013105849A 1 describes a piezoelectric actuated hexapod design usable as inner work for a robot in the personal robotics domain, enabling quiet actuation, compact design, beneficial force transmission ratios, low-cost and beneficial actuation dynamics.

Piezoelectric actuators are used in combination with sets of crank pushrod mechanisms, wherein each pushrod is connected to a wheel segment. These wheel segments are placed in a triangular orientation, resulting in a compact design. Position measurements can be performed at wheel segments.

SUMMARY OF THE INVENTION

The kinematics of a parallel kinematic robot comprise constraint elements (also called joints) to restrict and enable certain motions. A hexapod is a specific 6 degree of freedom (DOF) parallel kinematic robot. Typically, the hexapod would require 6 parallel (kinematic) chains with each a prismatic, universal and spherical joint in series. A prismatic joint is a linear guide, a universal a 2 DOF rotational joint, and a spherical joint a 3 DOF rotational joint.

However, such (kinematic) chains may be expensive and may be challenging to manufacture and assemble.

Hence, it is an aspect of the invention to provide a parallel manipulator element, which preferably further at least partly obviates one or more of above-described drawbacks.

The present invention may have as object to overcome or ameliorate at least one of the disadvantages of the prior art, or to provide a useful alternative. Additionally or alternatively it is an aspect of the invention to provide a parallel manipulator system, which preferably further at least partly obviates one or more of above-described drawbacks. The present invention may have as object to overcome or ameliorate at least one of the disadvantages of the prior art, or to provide a useful alternative. The parallel manipulator element may be part of the parallel manipulator system described herein.

Hence, in a first aspect the invention provides a parallel manipulator element (especially for moving an object with six degrees of freedom). The parallel manipulator element comprising a joint element and especially a (kinematic) strut. The parallel manipulator element further especially comprises a flexure element. In embodiments, the flexure element comprises (1) a first element end (section) and a second element end (section). The flexure element further comprises (has) an element length Lrg, especially a maximum element length Lrg. Further, the flexure element comprises (has) an element width Wr, especially a maximum element width

Wee (perpendicular to the element length), and an element thickness Tre, especially a maximum element thickness Tre (perpendicular to the element length and perpendicular to the element width). Especially, the element length Lrg and the element width Weg define an element plane (Pz) The flexure element further comprises (has) a longitudinal element (central) axis (Al) (passing through a midpoint of the first element end (section) and the second element end (section)), and a (central) width axis (A4). The strut comprises in embodiments a first strut end (section), a second strut end (section), and a longitudinal strut axis (A3). The longitudinal element (central) axis (A1) and the strut axis (A3) may define a translation plane (Pr). Further, the width axis (A4) 1s especially perpendicular to the longitudinal axis (A1) and parallel to the element plane (Pg). In further embodiments, the joint element is (fixedly) connected to the second strut end (section). The joint element is especially configured for connecting the strut to a dynamic movable object. Additionally, the second element end (section) is in embodiments (fixedly or stationary) connected to the first strut end section, especially wherein the strut axis (A3) and the element axis (A1) define an (non-straight) angle (a). In embodiments, the first element end (section) is configured for (fixedly) connecting the flexure element to a static object. Furthermore, in embodiments, the flexure element is configured for (i) (elastically or reversibly) twisting around the longitudinal element axis (Al), (ii) (elastically or reversibly) rotating (bending) around the width axis (A4), and (iii) translating the second element end (section) in a direction parallel to the translation plane (Pt), especially when being connected to the static object at the first element end (section) and (coupled, especially indirectly coupled) to the dynamic movable object with the joint element via the second element end (section).

Hence, the invention provides in specific embodiments, a parallel manipulator element (for moving an object with six degrees of freedom), the parallel manipulator element comprising a joint element, a (kinematic) strut and a flexure element, wherein: (I) the flexure element comprises (1) a first element end (section) and a second element end (section), (i1) an element length Lrg, (iii) an (maximum) element width Weg (perpendicular to the element length), (iii) an (maximum) element thickness Tre (perpendicular to the element length and perpendicular to the element width), wherein the element length Lrz and the element width Weg define an element plane (Pg), and (iv) a longitudinal element (central) axis (Al) (passing through the midpoint of the first element end (section) and the second element end (section)), and a (central) width axis (A4); (I) the strut comprises a first strut end (section), a second strut end (section), and a longitudinal strut axis (A3); wherein: (a) the longitudinal element (central) axis (A1) and the strut axis (A3) define a translation plane (Pt), and (b) the width axis (A4) is perpendicular to the longitudinal axis (Al) and parallel to the element plane (Pg); (III) the joint element is (fixedly) connected to the second strut end (section), wherein the joint element is configured for connecting the strut to a dynamic movable object; (IV) the second element end (section) is (fixedly or stationary) connected to the first strut end section, wherein the strut axis (A3) and the element axis (A1) define an (non-straight) angle (a); (V) the first element end (section) is configured for (fixedly) connecting the flexure element to a static object; and (VI) the flexure element is configured for (i) (elastically or reversibly) twisting around the longitudinal element axis (Al), (ii) (elastically or reversibly) rotating (bending) around the width axis (A4), and (iii) translating the second element end (section) in a direction parallel to the translation plane (Pr), when being connected to the static object at the first element end (section) and to the dynamic movable object with the joint element via the second element end (section).

The present invention provides a replacement for the prismatic and the universal joint in a (kinematic) chain, namely a flexure element (for example a leaf spring) in a particular orientation. The flexure element has the same kinematic function as the combination of the prismatic and universal joint. Benefits are a reduced part count, because existing implementations may use multiple elastic components per kinematic joint. Associated advantages are the low cost, easy assembly and easy manufacture.

Herein the term “end” is used in relation to specific elements, especially in relation to the strut and the flexure element” e.g. in “the first strut end”, “the second strut end”, “first element end”, the second element end”. This term may especially refer to a portion or section of the respective element and not necessarily refers to the extremity/edge of the element.

Therefore, the term may be followed with the term “section”, such as in “the first element end section”. It will be understood that if the term section is omitted, the term “end” may (still) refer to “end section” unless described otherwise or is clear to the skilled person from the description.

In a further aspect, the invention provides a parallel manipulator system comprising a static object, a dynamic movable object, and a plurality of parallel manipulator elements. In embodiments, each of the flexure elements 1s connected to the static object at the respective first element end. Additionally or alternatively, in embodiments, each of the flexure elements may be connected to the dynamic movable object via the respective second element end. Especially, the parallel manipulator elements encompass the static object. Hence, in specific embodiments, the invention provides a parallel manipulator system comprising a static object, a dynamic movable object, and a plurality of parallel manipulator elements, wherein each of the flexure elements is connected to the static object at the respective first element end and to the dynamic movable object via the respective second element end, wherein the parallel manipulator elements encompass the static object.

In a further aspect, the invention provides a parallel manipulator system (“system”) comprising a static object, a dynamic movable object, and the parallel manipulator element. In specific embodiments, the system further comprises a manipulator actuator. Note that in embodiments, the parallel manipulator system may (also) not comprise the manipulator actuator. In further embodiments, the flexure element is connected to the static object at the first element end (section) and especially (also) to the dynamic movable object (with the joint element) via the second element end (section). Additionally, in embodiments, the manipulator actuator is connected to the static object, wherein the manipulator actuator is configured to provide a force to the second element end (section) (comprised by the flexure element), especially (at least)in a direction parallel to the translation plane (Pr). Hence, in specific embodiments, the invention provides a parallel manipulator system comprising a static object, a dynamic movable object, a manipulator actuator and the parallel manipulator element, wherein: (I) the flexure element is connected to the static object at the first element end (section) and to the dynamic movable object (with the joint element) via the second element end (section), and (II) the manipulator actuator is connected to the static object, wherein the manipulator actuator is configured to provide a force to the second element end (section) (comprised by the flexure element) in a direction parallel to the translation plane (Pr).

The term “flexure element” may refer to a plurality of (different) flexure elements. A plurality of flexure elements may be functionally coupled in series. Additionally, or alternatively a plurality of flexure elements may be functionally coupled parallel to each other.

In a further aspect, the invention provides a use of the parallel manipulator element in a parallel kinematic manipulator (or linear parallel platform). Especially, the flexure element (comprised by the parallel manipulator element) functions as a universal joint and a prismatic joint in series. Additionally or alternatively, in embodiments, the flexure element functions as a universal joint and a revolute joint in series. Hence, in specific embodiments, the invention provides a use of the parallel manipulator element in a parallel kinematic manipulator 5 (or linear parallel platform), wherein the flexure element (comprised by the parallel manipulator element) functions as one of (1) a universal joint and a prismatic joint in series, and (ij) a universal joint and a revolute joint in series.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the invention will now be described, by way of example only, with reference to the accompanying schematic drawings in which corresponding reference symbols indicate corresponding parts, and in which: Fig. la-b schematically depict an embodiment of the parallel manipulator element 1000, and Fig. 2a-b schematically depicts an embodiment of the parallel manipulator system 2000. The schematic drawings are not necessarily to scale.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Fig. la and 1b schematically depict a side view and an isometric view of an embodiment of the parallel manipulator element 1000, respectively. Here below, some general aspects of the parallel manipulator element are described, followed by further embodiments.

In embodiments, the invention provides a parallel manipulator element 1000 (for moving an object with six degrees of freedom), the parallel manipulator element 1000 comprising a joint element 300, a (kinematic) strut 200 and a flexure element 100.

The flexure element 100 in embodiments comprises (i) a first element end (section) 110 and a second element end (section) 120, (11) an element length Lrg, (iii) an (maximum) element width Weg (perpendicular to the element length), (iii) an (maximum) element thickness Tre (perpendicular to the element length and perpendicular to the element width), wherein the element length Le and the element width Wg define an element plane Pg, and (iv) a longitudinal element (central) axis Al (passing through the midpoint of the first element end (section) 110 and the second element end (section) 120), and a (central) width axis

A4.

In embodiments, the strut 200 comprises a first strut end (section) 210, a second strut end (section) 220, and a longitudinal strut axis A3. Further, the longitudinal element (central) axis A1 and the strut axis A3 define a translation plane Pr, and the width axis A4 is perpendicular to the longitudinal axis Al and parallel to the element plane Pz. In embodiments, the joint element 300 1s (fixedly) connected to the second strut end (section) 220. Especially, the joint element 300 is configured for connecting the strut 200 to a dynamic movable object 2500. The second element end (section) 120 is especially (fixedly or stationary) connected to the first strut end section 210. The strut axis A3 and the element axis Al especially define an (non-straight) angle a. In embodiments, the first element end (section) 110 is configured for (fixedly) connecting the flexure element 100 to a static object 2010.

Further, the flexure element 100 is in embodiments configured for (elastically or reversibly) twisting around the longitudinal element axis Al. In further embodiments, the flexure element 100 is configured for (elastically or reversibly) rotating (bending) around the width axis A4. The curved arrows around the axes Al and A4 indicate the rotational degrees of freedom of the flexure element 100. Additionally, in embodiments, the flexure element 100 is configured for translating the second element end (section) 120 in a direction parallel to the translation plane Pr, when being connected to the static object 2010 at the first element end (section) 110 and to the dynamic movable object 2500 with the joint element 300 via the second element end (section) 120.

In embodiments, the flexure element 100 has a degree of rotational freedom in the range of -60°-60°, such as in the range of -10°-10°, especially in the range of -6°-6° around the longitudinal element axis Al. Additionally or alternatively, in embodiments, the flexure element 100 has a degree of rotational freedom in the range of -90°-90°, such as in the range of -15°-15°, especially in the range of -9°-9°, around the width axis A4. In further embodiments, the flexure element 100 (also) has a degree of translational freedom in the translation plane Pr.

The second element end (section) 120 may be displaced in in the translation plane (Pr) relative to the first element end (section) by a distance in the range of -0.5* Leg -0.5* Lrg, such as - 0.1*Lgg-0.1* Lee especially -0.05* Leg -0.05* Leg

In an embodiment, the flexure element 100 comprises one or more deformable (or bendable) elements. Especially, the flexure element may be configured to bend, twist or be sheared. In embodiments, the flexure element may comprise a leaf spring. However, it will be apparent to the skilled person that the flexure element may in embodiments also comprise other elements that may be bent, twisted or sheard.

The angle a is especially selected from the range of 3°-177°. In embodiments, the angle selected from the range of 70°-110°, especially the angle a is 90°£5°.

In embodiments, the flexure element 100 comprises a variable width Wee along the longitudinal axis Al. In further embodiments, the flexure element 100 (also) comprises a variable width Wre along the (central) width axis A4. The flexure element 100 may in embodiments have a variable thickness Trg along the longitudinal axis Al. Additionally, or alternatively, the flexure element 100 may have a variable thickness Tre along the (central) width axis A4.

In further embodiments, 0.1*Lrg < Were < 25*Lge. Especially, 0.33*Lpg < WEE <3* Le. Additionally or alternatively, in embodiments, 0.001*Lgg < Tre < 0.05* Lrg. In some embodiments, it may also apply that 0.01*Lrg < Tre <0.1* Lee.

In some embodiments, the flexure element 100 comprises (or is made of) an elastic material. Especially, (any) material that may exhibit elastic properties may be configured as the flexure element 100 (for example: plastic, steel, iron, spring steel, etc.). However, in other embodiments, the flexure element 100 comprises (or is made of) a plastic material (comprising plastic properties). Especially, the plastic material 1s selected from the group of ceramics, silicon and glass. Note that (any) material that exhibits plastic properties may (also) be configured as the flexure element 100.

In embodiments, the (kinematic) strut 200 has a cross-sectional shape selected from the group of a cylinder, a triangle, a square, a pentagon and a hexagon. However, it is apparent to the skilled person that (kinematic) strut 200 may also comprise other cross-sectional shapes. Furthermore, in embodiments, the (kinematic) strut 200 may be hollow. In further embodiments, the (kinematic) strut 200 has a length Ls and an (equivalent circular) diameter

Ds, wherein IO*Ds<Ls. The equivalent circular diameter (or ECD) (or “circular equivalent diameter”) of an (irregularly shaped) two-dimensional shape is the diameter of a circle of equivalent area. For instance, the equivalent circular diameter of a square with side a is 2*a*SQRT(1/x). For a circle, the diameter is the same as the equivalent circular diameter.

Would a circle in an xy-plane with a diameter D be distorted to any other shape (in the xy- plane), without changing the area size, then the equivalent circular diameter of that shape would be D.

Further, in embodiments, the (kinematic) strut 200 may comprise a varying width along the length of the (kinematic) strut 200. Additionally or alternatively, the (kinematic) strut 200 may (also) comprise a varying thickness along the length of the (kinematic) strut 200. In embodiments, the (kinematic) strut 200 is a rigid element i.e, the (kinematic) strut 200 may undergo minimal deformation in comparison with the flexure element 100. The (kinematic) strut 200 1s especially selected to substantially not deform based on an external force. Based on an external force, the deformation may e.g. be less than 10%,

especially less than 5%, such as less than 1%, in one or more of dimensions (the X, Y, and Z dimensions, as well as an angular dimension)

In embodiments, the joint element 300 comprises one or more joint elements selected from the group consisting of a spherical joint, or a revolute joint, or a prismatic joint, or a universal joint.

In a further aspect, the invention provides a parallel manipulator system 2000 comprising a static object 2010, a dynamic movable object 2500, and a plurality of parallel manipulator elements 1000. In embodiments, each of the flexure elements 100 is connected to the static object 2010 at the respective first element end 110 and to the dynamic movable object 2500 via the respective second element end 120. Especially, the parallel manipulator elements 1000 encompass the static object.

Further, in embodiments, the parallel manipulator system further comprises at least one manipulator actuator 2100 configured functionally coupled to one or more parallel manipulator elements 1000. In further embodiments, the manipulator actuator 2100 may provide a force to the second element end 120 of the respective parallel manipulator element 1000. Especially, the manipulator actuator 2100 may provide a torque (for example by means of a (rotating) electric motor) to the second element end 120 of the respective parallel manipulator element 1000. Additionally or alternatively, in embodiments, the parallel manipulator actuator 2100 may provide a movement of the second element end 120 of the respective parallel manipulator element 1000.

In embodiments, the movement of the second element end 120 may be a translational movement. Additionally or alternatively, the movement of the second element end 120 may be a rotational movement.

In a further aspect, the invention provides a use of the parallel manipulator element 1000 in a parallel kinematic manipulator (or linear parallel platform), see also Fig. 2a- b. Especially, the flexure element 100 (comprised by the parallel manipulator element 1000) functions as a universal joint and a prismatic joint in series. In embodiments, the flexure element 100 may (also) function as a universal joint and a revolute joint in series.

Fig. 2a and 2b schematically depict a top view and an isometric view of an embodiment of the parallel manipulator system 2000, respectively.

In embodiments, the invention provides a parallel manipulator system 2000 comprising a static object 2010, a dynamic movable object 2500, and the parallel manipulator element 1000. In further embodiments, the parallel manipulator system 2000 further comprises a manipulator actuator 2100.

In further embodiments, the flexure element 100 is connected to the static object 2010 at the first element end (section) 110 and to the dynamic movable object 2500 (with the joint element 300) via the second element end (section) 120.

Furthermore, the manipulator actuator 2100 is in embodiments connected to the static object 2010. Especially, the manipulator actuator 2100 is configured to provide a force to the second element end (section) 120 (comprised by the flexure element 100) in a direction parallel to the translation plane Pr.

In embodiments, the parallel manipulator system 2000 may comprise one parallel manipulator element 1000. In further embodiments, the parallel manipulator system 2000 may comprise a plurality of parallel manipulator elements 1000.

In embodiments, the parallel manipulator system 2000 may comprise at least three parallel manipulator elements 1000 encompassing the static object 2010 (not depicted in the figures). Especially, the parallel manipulator elements 1000 may be evenly distributed around the static object 2010. Especially, each of the parallel manipulator elements (1000) is functionally connected to at least one manipulator actuator 2100.

In embodiments, the parallel manipulator system 2000 comprises a plurality of manipulator actuators 2100, especially, (at least) six parallel manipulator elements 1000 encompassing the static object 2010. Especially, the parallel manipulator elements 1000 may be evenly distributed around the static object 2010. Especially, each of the parallel manipulator elements 1000 is in embodiments functionally connected to at least one manipulator actuator 2100.

In embodiments, the manipulator actuator 2100 is selected from the group of a linear actuator, a voice coil actuator, a moving magnet actuator, and a ballscrew actuator. Note that, in embodiments, the manipulator actuator 2100 may (also) comprise prescribed displacement actuators. For instance, the manipulator actuator 2100 may especially comprise a set screw. Furthermore, the manipulator actuator 2100 may in embodiments linearly displace the second element end (section) 120. Hence, in embodiments, the manipulator actuator 2100 may be a linear actuator, or an angular actuator, or a combination thereof. In embodiments, the manipulator actuator 2100 may (also) be configured to angularly displace the second element end (section) 120. In further embodiments, the manipulator actuator 2100 may be configured to linearly and angularly displace the second element end (section) 120.

The invention may thus in embodiments provide (elements for) a hexapod manipulator as an embodiment of the parallel manipulator system 2000. Hexapod manipulators normally provide motion in 6 degrees of freedom. The kinematic model of a hexapod can be characterized by means of chains of links and joints. A joint refers to an ideal kinematic pair, such as a revolute joint (R), a universal joint (U), a spherical joint (S) or a prismatic joint (P).

Hexapods tend to have six parallel kinematic chains that each consist of several serially connected links and joints. Various combinations of links and joints can provide the typical six degree of freedom hexapod motion, such as the so-called 6PUS, 6RUS and 6UPS kinematic chains. In a hexapod design, the components that perform the kinematic function of these joints can be traditional sliding- or rolling-contact components, such as ball bearings that serve as revolute joints. Alternatively, when the application requires a high degree of determinism, flexure-based components can be used. Flexure-based components known in the prior often comprise an assembly of elastic components, such as leafsprings, notch hinges or wire flexures.

The parallel manipulator element 1000 of the invention may function as a new type of chains of links and joints, wherein especially the number of joints in the chain is reduced compared to prior art devices especially wherein a single flexure element may replace a couple of joint elements used in prior art solutions. The flexure element may in embodiments especially be a monolithic flexure element.

The term “plurality” refers to two or more. Furthermore, the terms “a plurality of” and “a number of” may be used interchangeably.

The terms “substantially” or “essentially” herein, and similar terms, will be understood by the person skilled in the art. The terms “substantially” or “essentially” may also include embodiments with “entirely”, “completely”, “all”, etc. Hence, in embodiments the adjective substantially or essentially may also be removed. Where applicable, the term “substantially” or the term “essentially” may also relate to 90% or higher, such as 95% or higher, especially 99% or higher, even more especially 99.5% or higher, including 100%.

Moreover, the terms “about” and “approximately” may also relate to 90% or higher, such as 95% or higher, especially 99% or higher, even more especially 99.5% or higher, including 100%. For numerical values it is to be understood that the terms “substantially”, “essentially”, “about”, and “approximately” may also relate to the range of 90% - 110%, such as 95%-105%, especially 99%-101% of the values(s) it refers to.

The term “comprise” also includes embodiments wherein the term “comprises” means “consists of”.

The term “and/or” especially relates to one or more of the items mentioned before and after “and/or”. For instance, a phrase “item 1 and/or item 2” and similar phrases may relate to one or more of item 1 and item 2. The term “comprising” may in an embodiment refer to “consisting of” but may in another embodiment also refer to “containing at least the defined species and optionally one or more other species”.

Furthermore, the terms first, second, third and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances and that the embodiments of the invention described herein are capable of operation in other sequences than described or illustrated herein.

The devices, apparatus, or systems may herein amongst others be described during operation. As will be clear to the person skilled in the art, the invention is not limited to methods of operation, or devices, apparatus, or systems in operation.

The term “further embodiment” and similar terms may refer to an embodiment comprising the features of the previously discussed embodiment, but may also refer to an alternative embodiment.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design many alternative embodiments without departing from the scope of the appended claims.

In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.

Use of the verb “to comprise” and its conjugations does not exclude the presence of elements or steps other than those stated in a claim. Unless the context clearly requires otherwise, throughout the description and the claims, the words “comprise”, “comprising”, “include”, “including”, “contain”, “containing” and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is to say, in the sense of “including, but not limited to”.

The article "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.

The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In a device claim, or an apparatus claim, or a system claim, enumerating several means, several of these means may be embodied by one and the same item of hardware. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

The invention also provides a control system that may control the device, apparatus, or system, or that may execute the herein described method or process. Yet further,

the invention also provides a computer program product, when running on a computer which is functionally coupled to or comprised by the device, apparatus, or system, controls one or more controllable elements of such device, apparatus, or system.

The invention further applies to a device, apparatus, or system comprising one or more of the characterizing features described in the description and/or shown in the attached drawings. The invention further pertains to a method or process comprising one or more of the characterizing features described in the description and/or shown in the attached drawings.

Moreover, if a method or an embodiment of the method is described being executed in a device, apparatus, or system, it will be understood that the device, apparatus, or system is suitable for or configured for (executing) the method or the embodiment of the method, respectively.

The various aspects discussed in this patent can be combined in order to provide additional advantages. Further, the person skilled in the art will understand that embodiments can be combined, and that also more than two embodiments can be combined. Furthermore, some of the features can form the basis for one or more divisional applications.

Claims

Conclusions:

1. A parallel manipulator element (1000), the parallel manipulator element (1000) comprising a coupling element (300), a strut (200) and a bending element (100), wherein: - the bending element (100) comprises (i) a first element end (110) and a second element end (120), (i) an element length Lrg, (iil) an element width Wrg, (iil) an element thickness Tre, the element length Le and the element width Wer defining an element plane (Pg), and (iv) a longitudinal element axis (Al) and a width axis (A4); - the strut (200) comprises a first strut end (210), a second strut end (220) and a longitudinal strut axis (A3); wherein: - the longitudinal element axis (A1) and the strut axis (A3) define a translation plane (Pr), and - the width axis (A4) is perpendicular to the longitudinal axis (A1) and parallel to the element plane (Pg); - the coupling element (300) is connected to the second strut end (220), the coupling element (300) being configured to connect the strut (200) to a dynamically movable object (2500); - the second element end (120) is connected to the first strut end (210), the strut axis (A3) and the element axis (A1) defining an angle (α); - the first element end (110) is configured to connect the bending element (100) to a static object (2010); - the bending element (100) is configured to (i) twist about the longitudinal element axis (A1), (ii) rotate about the width axis (A4), and (iii) move the second element end (120) in a direction parallel to the translation plane (Pr), when it (100) is connected to the static object (2010) at the first element end (110) and via the second element end (120), by means of the coupling element (300), to the dynamic movable object (2500).

2. The parallel manipulator element (1000) according to the preceding claim, wherein the bending element (100) has one or more of the following: - a rotational degree of freedom in the range of -6°-6° about the longitudinal element axis (A1);

- a rotational degree of freedom in the range of -9°-9° about the width axis (A4); and - a translational degree of freedom in the translation plane (Pr), the second element end (120) being displaceable relative to the first element end (110) in the range of -0.05* Lre-0.05 Lee.

The parallel manipulator element (1000) of any preceding claim, wherein the bending element (100) comprises one or more deformable elements, the bending element (100) comprising a leaf spring.

4. The parallel manipulator element (1000) according to any one of the preceding claims, wherein the angle (ct) is selected from the range of 70°-1 10°, in particular 90°+5°.

5 The parallel manipulator element (1000) according to any one of the preceding claims, wherein the bending element (100) comprises one or more of: - a variable width (Were) along the longitudinal axis (A1); - a variable thickness (Tre) along the longitudinal axis (A1); and - a variable thickness (Tre) along the width axis (A4).

6. The parallel manipulator element (1000) according to any one of the preceding claims, wherein 0.1*Lrg < Wee < 25* Lee.

7. The parallel manipulator element (1000) according to any one of the preceding claims, wherein 0.001 *Lre < Tre < 0.05* Lee.

8. The parallel manipulator element (1000) according to any one of the preceding claims, wherein the bending element (100) comprises an elastic material.

9. The parallel manipulator element (1000) according to any one of the preceding claims, wherein the strut (200) has one or more of: - a cross-sectional shape selected from the group consisting of a cylinder, a triangle, a square, a pentagon and a hexagon; and - a length Ls and an equivalent circular diameter Ds, where 1O*Ds<Ls.

10. The parallel manipulator element (1000) of any preceding claim, wherein the coupling element (300) comprises one or more coupling elements selected from the group consisting of a spherical coupling, a rotary coupling, a prismatic coupling, and a universal joint.

A parallel manipulator system (2000) comprising a static object (2010), a dynamically movable object (2500) and a plurality of parallel manipulator elements (1000) according to any one of the preceding claims 1-10, wherein each of the bending elements (100) is connected to the static object (2010) at the respective first element end (110) and to the dynamically movable object (2500) via the respective second element end (120), the parallel manipulator elements (1000) surrounding the static object.

12. The parallel manipulator system (2000) of claim 11, comprising at least one manipulator actuator (2100) operatively coupled to one or more parallel manipulator elements (1000) for providing (i) a force to the second element end (120) of the respective parallel manipulator element (1000) and/or (ii) a movement of the second element end (120) of the respective parallel manipulator element (1000).

13. The parallel manipulator system (2000) according to claim 12, wherein the movement of the second element end (120) is a translational movement and/or a rotational movement.

14. A parallel manipulator system (2000) comprising a static object (2010), a dynamically movable object (2500), a manipulator actuator (2100) and the parallel manipulator element (1000) according to any of claims 1 to 10, wherein: - the bending element (100) is connected to the static object (2010) at the first element end (110) and to the dynamically movable object (2500) via the second element end (120); and - the manipulator actuator (2100) is connected to the static object (2010), the manipulator actuator (2100) being configured to exert a force on the second element end (120) in a direction parallel to the translation plane (Pr).

15. The parallel manipulator system (2000) according to claim 14, wherein the parallel manipulator system (2000) comprises six parallel manipulator elements (1000) surrounding the static object (2010), in particular evenly distributed around the static object (2010), and a plurality of manipulator actuators (2100), each of the parallel manipulator elements (1000) being operatively connected to at least one manipulator actuator (2100).

16. The parallel manipulator system (2000) according to any of claims 14-15, wherein the manipulator actuator (2100) is selected from the group consisting of a linear actuator, a voice coil actuator, a moving magnet actuator and a ball screw.

17. Use of the parallel manipulator element (1000) according to any of claims 1 to 10 in a parallel kinematic manipulator, wherein the bending element (100) functions as one of (1) a universal joint and a prismatic joint in series and (11) a universal joint and a rotary joint in series.