Actuators, systems, and methods for controlling tools are disclosed. One actuator includes a first motor, a second motor, and a controller. The first motor is operable to rotate a first threading extending in a first helical direction around an axis. The second motor is operable to rotate a second threading axially spaced apart from the first threading and extending in a second helical direction opposite the first helical direction around the axis. The controller is in communication with the first and second motors. The controller is configured to control speed and direction of the first and second motors to effect a desired pattern of axial and rotational movement of the tool. One method includes rotating the first threading in a first rotational direction, and simultaneously, rotating the second threading in a second rotational direction opposite the first direction.

A multi-motion-platform parallel robot, comprising an original parallel mechanism; and a plurality of N.sub.1 derivative parallel mechanisms, wherein: each of the parallel mechanisms possesses N.sub.2 degrees-of-freedom (DOFs) and shares an identical set of DOF properties; N.sub.1 is an integer greater than 1; N.sub.2 is one of 2, 3, 4, 5 and 6; the original parallel mechanism includes an original base platform, an original movable platform and a plurality of N.sub.2 original chains; the plurality of original chains connect the original base platform and the original movable platform; each of the original chains includes a plurality of generalized kinematic pairs interconnected in series; the derivative parallel mechanism includes a derivative base platform, a derivative movable platform and a plurality of (N.sub.2N.sub.1) derivative chains; and the plurality of derivative chains connect the derivative base platform and the derivative movable platform.

A multi-motion-platform parallel robot, comprising an original parallel mechanism; and a plurality of N.sub.1 derivative parallel mechanisms, wherein: each of the parallel mechanisms possesses N.sub.2 degrees-of-freedom (DOFs) and shares an identical set of DOF properties; N.sub.1 is an integer greater than 1; N.sub.2 is one of 2, 3, 4, 5 and 6; the original parallel mechanism includes an original base platform, an original movable platform and a plurality of N.sub.2 original chains; the plurality of original chains connect the original base platform and the original movable platform; each of the original chains includes a plurality of generalized kinematic pairs interconnected in series; the derivative parallel mechanism includes a derivative base platform, a derivative movable platform and a plurality of (N.sub.2N.sub.1) derivative chains; and the plurality of derivative chains connect the derivative base platform and the derivative movable platform.

The present application provides a multi-motion-platform parallel robot and a method of constructing the same. The parallel robot comprises a symmetrical basic parallel mechanism and one or more symmetrical branch parallel mechanism. The basic parallel mechanism comprises a symmetrical basic foundation platform, a symmetrical basic motion platform, and symmetrical main branched-chains. The branch parallel mechanism comprises a symmetrical branch foundation platform, a symmetrical branch motion platform, and symmetrical branch branched-chains. The basic parallel mechanism and the branch parallel mechanism are connected by means of a multiple-output motion pair having symmetrical output ends, and share one set of driving pairs and drive and control devices. The multi-motion-platform parallel robot and it's method of construction can be used for various industrial robots, three-dimensional profile modeling and scaling robots and walking robots, and have the advantages of having a simple structure, being easy to standardize, having a high production efficiency, and the like.

The present application provides a multi-motion-platform parallel robot and a method of constructing the same. The parallel robot comprises a symmetrical basic parallel mechanism and one or more symmetrical branch parallel mechanism. The basic parallel mechanism comprises a symmetrical basic foundation platform, a symmetrical basic motion platform, and symmetrical main branched-chains. The branch parallel mechanism comprises a symmetrical branch foundation platform, a symmetrical branch motion platform, and symmetrical branch branched-chains. The basic parallel mechanism and the branch parallel mechanism are connected by means of a multiple-output motion pair having symmetrical output ends, and share one set of driving pairs and drive and control devices. The multi-motion-platform parallel robot and it's method of construction can be used for various industrial robots, three-dimensional profile modeling and scaling robots and walking robots, and have the advantages of having a simple structure, being easy to standardize, having a high production efficiency, and the like.

A direct-drive two-axis machining head includes a head-drive unit and a shaft-drive unit. The head-drive unit includes a head-installing interface, a first motor, an axis-A supporter, and a first braking module mounted at an outermost rim of either a first motor seat or a stator of the first motor for braking the axis-A supporter. The shaft-drive unit further includes an axis-A-installing interface, a second motor, a shaft connector, and a second braking module mounted at an outermost rim of a second motor seat of the second motor for braking the shaft connector. The head-drive unit further includes a towline fixation sheet metal and a towline pipeline shield. The towline fixation sheet metal connects the rotor seat. One end of the towline pipeline shield connects the towline fixation sheet metal, while another end thereof connects the head-installing interface so as to shield a plurality of pipelines.

An actuator includes a rotary motor, a spline member, a linear motor and an output part. The rotary motor includes a rotary mover with a rotational axis, the rotary mover being configured to rotate around the rotational axis. The spline member includes a first member that receives torque from the rotary mover, and a second member. The linear motor includes a linear mover that receives torque from the second member, and a linear stator. The linear mover penetrates the linear stator in a direction of the rotational axis.

The present disclosure involves occasions where precise two-dimensional motion takes place, and is applicable to XY motion stages for precise displacement compensation. The present disclosure particularly involves a stiffness-frequency adjustable XY micromotion stage based on stress stiffening, which includes X-direction and Y-direction motion sub-stages and corresponding drivers and a micromotion working table. The micromotion stage uses membrane sets that have tension levels thereof adjusted by bolts as a flexible hinge, so as to achieve independent adjustment of the vibration frequency of the XY micromotion stage. The present disclosure implements the foregoing configuration based on prestressed membrane, so the frequency is adjustable. The inherent frequency of the micromotion stage can be adjusted before or during operation according to various working conditions and driving frequency. The two feed motion direction are perpendicular so as to prevent the micromotion working table from coupling during two-dimensional motion.

The present disclosure involves occasions where precise two-dimensional motion takes place, and is applicable to XY motion stages for precise displacement compensation. The present disclosure particularly involves a stiffness-frequency adjustable XY micromotion stage based on stress stiffening, which includes X-direction and Y-direction motion sub-stages and corresponding drivers and a micromotion working table. The micromotion stage uses membrane sets that have tension levels thereof adjusted by bolts as a flexible hinge, so as to achieve independent adjustment of the vibration frequency of the XY micromotion stage. The present disclosure implements the foregoing configuration based on prestressed membrane, so the frequency is adjustable. The inherent frequency of the micromotion stage can be adjusted before or during operation according to various working conditions and driving frequency. The two feed motion direction are perpendicular so as to prevent the micromotion working table from coupling during two-dimensional motion.

A common-stator macro/micro integrated precision motion one-dimensional linear motor assembly, includes a base, linear guide rails, slide blocks, a U-shaped linear motor stator, a macro motion rotor, a micro motion rotor and a macro/micro integrated platform. A macro and micro motion platforms are connected to form an integrated platform through an elastic member, an outer frame of the macro/micro integrated platform is mounted on the linear guide rails and the slide blocks, the U-shaped linear motor stator is arranged on the base, rotors are respectively mounted on the macro and micro motion platforms, and large-scale overall high-speed motion can be realized when macro and micro rotors are simultaneously driven, and when a motion deviation occurs, the micro motion platform realizes precise displacement output by virtue of elastic deformation due to small inertia and zero friction, and high-frequency motion deviation compensation can be realized by virtue of individual drive.