Mechanism combining articulation and side-shift

Abstract

A coupling mechanism controls the location of the central primary draft load transmitting fixed-length link independently of the coupler. The coupling mechanism allows for translation in at least three orthogonal directions and for rotation of two distinct planes between coupled components, thereby providing a means for lateral shifting and articulation. The coupling mechanism mitigates unexpected rotation by restricting rotation along a longitudinal axis of the fixed-length link. Rotation of the coupling mechanism is furthermore controlled by means of a indexing turntable. The orientation and the position of the coupling mechanism is therefore determinant and predictable.

Claims

1. A method for providing lateral shifting and articulation capabilities comprising: carrying a primary draft load between a platform (102) and a base (101) with a fixed-length link (103), said fixed-length link (103) having a longitudinal axis (113) running between the platform (102) and the base (101); allowing for translation in at least two orthogonal directions of a platform center (115) located on the platform (102) with respect to a base center (114) located on the base (101); restricting rotation of the fixed-length link (103), the platform (102), and the base (101) around the longitudinal axis (113); allowing for rotation of the platform (102) with a set of upper variable-length links (107, 108, 109) pivotally connected to the platform (102) and the fixed-length link (103); and allowing for rotation of the base (101) with a set of lower variable-length links (104, 105, 106) pivotally connected to the base (101), and either (a) the fixed-length link (103) or (b) the platform (102).

2. The method according to claim 1 further providing indexing capabilities comprising: allowing for rotation of a turntable (135) attached to the base (101) on a longitudinal axis through the base center (115) wherein the angular rotation is controlled by a turntable indexer (136) comprising a floating pin-in-slot, a torsional actuator, a roller belt or a gear set.

3. The method according to claim 2 further providing power transmission comprising: transmitting power between a base transmission device (122) coupled to a base rotating shaft (110) rotationally connected to the base (101) and a platform transmission device (121) coupled to a platform rotating shaft (112) rotationally connected to the platform (102).

4. The method according to claim 3 further comprising: Receiving an input (124) with an intelligent control (123); and in response to receiving the input (124), controlling with the intelligent control (123) a location of the platform origin (115) and base origin (114); and controlling an orientation of the platform (102) and the base (101).

5. The method of claim 1 further comprising: manually adjusting the length of each of the variable-length links (104, 105, 106, 107, 108, 109) by means of a mechanical turnbuckle; and securing the variable-length links (104, 105, 106,107, 108, 109) in place to: position the platform origin (115) and the base origin (114); control an orientation of the platform (102) and the base (101); and maintain a set position.

6. An attachment mechanism (100) comprising: a base (101) having a base center (114) and a base perimeter; a fixed-length link (103) comprising: a base end pivotally connected to the base (101) at the base center (114); a longitudinal axis (113) running from the base end to a platform end through the base center (114) and a platform center (115), respectively, wherein rotation of the fixed-length link (103) and the base (101) is restricted around the longitudinal axis (113), a distance between the base end and the platform end that is constant, the distance extending from the base center (114) to the platform center (115) along the longitudinal axis (113); and a set of at least two lower variable-length links (104, 105, and 106) each having a first end pivotally connected to the base perimeter, and a second end pivotally connected to the fixed-length link (103), wherein the second end of the lower variable-link end extends away from the fixed-length link (103), and is connected to a lower-link anchor surface (117) near the platform end of the fixed-length link (103).

7. An attachment mechanism (100) according to claim 6 further comprising: a platform (102) having a platform center (115) and a platform perimeter; the fixed-length link (103) further comprising: the platform end pivotally connected to the platform (102) at the platform center (115), the longitudinal axis (113) running from the platform end to the base end through the platform center (115) and the base center (114), respectively, wherein rotation of the fixed-length link (103) and the platform (102) is restricted around the longitudinal axis (113); and a set of at least two upper variable-length links (107, 108, and 109) each having a first end pivotally connected to the platform perimeter, and either (a) a second end pivotally connected to the fixed-length link (103), wherein the second end of the upper variable-link end extends away from the fixed-length link (103), and connected to an upper-link anchor surface (116) near the base end of the fixed-length link (103); or (b) a second end pivotally connected to the base perimeter.

8. The attachment mechanism (100) according to claim 7 wherein each pivotal connection (120) of the fixed length link (103) is formed with a spherical joint that is restricted from rotating around the longitudinal axis of the fixed length link (103) by a pin (131) in slot (132), universal, or a homokinetic joint at each end (114, 115) of the fixed length link (103) where it pivotally connects with the base (101) and platform (102), respectively.

9. The attachment mechanism (100) according to claim 7 wherein at least two pair of the variable-length links (104/107, 105/108, 106/109, . . . ) extend generally parallel to and are spaced equidistant from each other around the perimeter of the base and platform; the variable-length links are added in pairs, one to the base and one to the platform; and either (a) when there are just two pairs of variable length links (104/107, 105/108), the lower variable length links (104, 105) are connected consecutively to the base perimeter, then the first upper variable length link (107) is connected to the platform perimeter a quarter distance around the perimeter from the last lower variable length link (105), and the upper variable length link pairs (107, 108) are connected consecutively around the platform perimeter; or (b) if there are more than two pairs, the variable length links (104/107, 105/108, 106/109, . . . ) are connected alternating between the base and the platform perimeters, connected first one to the base perimeter, then the next to the platform perimeter.

10. The attachment mechanism (100) according to claim 9 wherein each of the variable-length links (104, 105, 106, 107, 108, 109, . . . ) include a linear actuator with each end pivotal connection formed with a spherical joint.

11. The attachment mechanism (100) according to claim 10 wherein the fixed-length link (103) further comprises a rotating drive shaft (111) to transmit power, running axially through the fixed-length link (103), coupling the base rotating shaft (110) and the platform rotating shaft (112) connected by pin-in-slot, universal or homokinetic joint at each end of the rotating drive shaft (111), and each end is coincident with the base center (114) or platform center (115), respectively, and the base rotating shaft (110) is rotationally connected to the base (101) at the base center (114), and the platform rotating shaft (112) is rotationally connected to the platform (102) at the platform center (115).

12. The attachment mechanism (100) according to claim 7 wherein the base (101) is rotationally connected to the turntable (135) on a longitudinal axis of the base rotating shaft (110) passing through the base center (115).

13. The attachment mechanism (100) according to claim 12 wherein the turntable indexer (136) controls the relative angular orientation of the base (101) relative to the turntable (135).

14. The system according to claim 13 wherein the loads of the transmission device (121, 122) is operatively attached to a drawbar, an umbrella, a parasol, a satellite dish or an antenna, an array of solar panels, or a nozzle.

15. A system comprising: the attachment mechanism (100) according to claim 7 comprising: a transmission device (121, 122) attached to the base (101) and to the platform (102).

16. The system according to claim 15 further comprising a base transmission device (122) coupled to the base rotating shaft (110).

17. The system according to claim 16 further comprising: a platform transmission device (121) coupled to a rotating drive shaft (111) to transmit power, running axially through the fixed-length link (103); the platform rotating shaft (112); and the platform transmission device (122).

18. The system according to claim 16 wherein the output power transmission device (121) is operatively attached to either: (a) an automotive wheel and the input power transmission device (122) is operatively attached to a transmission output shaft to propel the vehicle when the tire is in contact with the terrain; (b) the output power transmission device (121) is operatively attached to a mounted agricultural implement and the input power transmission device (122) is operatively attached to a power take-off shaft for an agricultural vehicle to perform work in the field; or (c) the output power transmission device (121) is operatively attached to a rotorcraft blade hub, an aircraft propeller or a boat impeller and the input power transmission device (122) is operatively attached to an engine crank shaft for vehicle locomotion.

19. The system according to claim 15 wherein the transmission device (121) is operatively attached to an automotive non-powered wheel (and free to rotate) used for transmitting suspension and steering load purposes only.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 shows a perspective view depicting how the lower variable and actuatable length links are attached to the perimeter of the base and the fixed-length link and used to position the fixed-length link relative to the base, according to some aspects of the present disclosure. While reference numerals of FIG. 1 relate to the base and base origin, it should be appreciated the platform and platform origin will produce a substantially identical view.

(2) FIG. 2 shows a perspective view of a rigid frame have a slot for a spherical joint centrally located at an origin point, according to some aspects of the present disclosure. While reference numerals of FIG. 2 relate to the base and base origin, it should be appreciated the platform and platform origin will produce a substantially identical view.

(3) FIG. 3 shows a perspective view of a fixed-length link which depicts in particular the longitudinal axis, base link anchor surface, according to some aspects of the present disclosure.

(4) FIG. 4 shows a cross-section view of one means for preventing rotation of a fixed-length link relative to the rigid frame and around a longitudinal axis passing through the base origin, i.e., a spherical joint constraint around one axis of rotation, according to some aspect of the present disclosure. While reference numerals of FIG. 4 relate to the base and base origin, it should be appreciated the platform and platform origin will produce a substantially identical view.

(5) FIG. 5 shows a perspective view of an embodiment for a mechanism combining articulation and side-shift which depicts platform variable-length links attached to the fixed-length link, according to some aspects of the present disclosure.

(6) FIG. 6 shows a perspective view of an embodiment for a mechanism combining articulation and side-shift which depicts platform variable-length links attached to the base perimeter, according to some aspects of the present disclosure.

(7) FIG. 7 shows a cross-section view depicting how power is internally routed through the base, the hollow fixed-length link and the platform of the mechanism combining articulation and side-shift, according to some aspects of the present disclosure.

(8) FIG. 8 shows a perspective view depicting the mechanism combining articulation and side-shift with the power transmission devices, according to some aspects of the present disclosure.

(9) FIG. 9 shows a perspective view depicting the power train and how power transmission devices are attached to the rotating shafts and internally routed through the base, the hollow fixed-length link and the platform of the mechanism combining articulation and side-shift, according to some aspects of the present disclosure.

(10) FIG. 10 shows a cross-section view of an embodiment for a mechanism combining articulation, side-shift and indexing which depicts a turntable coupled to the base, according to some aspects of the present disclosure.

(11) FIG. 11 shows a cross-section view of an embodiment for a mechanism combining articulation, side-shift and indexing which depicts a load transmission configuration, according to some aspects of the present disclosure.

(12) FIG. 12 shows a cross-section view of an embodiment for a mechanism combining articulation, side-shift and indexing which depicts non-powered load and rotary transmission, according to some aspects of the present disclosure.

(13) FIG. 13 shows a cross-section view of an embodiment for a mechanism combining articulation, side-shift and indexing which depicts powered load and rotary transmission, according to some aspects of the present disclosure.

(14) FIG. 14 depicts a flow chart of an intelligent control receiving an input, executing an algorithm based on the received input, and transmits an output based on at least one calculation performed in the algorithm, according to some aspects of the present disclosure.

(15) FIG. 15 shows a geometric view of the base with respect to the base link anchor surface including the variables used to calculate the position of the fixed-length origins and the orientation of the longitudinal axis of fixed-length link, according to some aspects of the present disclosure. While the reference numerals of FIG. 15 relate to the base and base origin, it should be appreciated the platform and platform origin will produce a substantially identical view.

(16) FIG. 16 a perspective view of an embodiment for a mechanism combining articulation and side-shift which depicts a combination of both side-shift and steer row guidance, including all the traditional three-point hitch functions on an agricultural tractor to connect draft and mounted implements with a PTO connection, according to some aspects of the present disclosure.

(17) Various embodiments of the present disclosure illustrate several ways in which the present invention may be practiced. These embodiments will be described in detail with reference to the drawings, wherein like reference numerals represent like parts throughout the several views. Reference to specific embodiments does not limit the scope of the present disclosure and the drawings represented herein are presented for exemplary purposes.

DETAILED DESCRIPTION OF THE INVENTION

(18) The following definitions and introductory matters are provided to facilitate an understanding of the present invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which embodiments of the present invention pertain.

(19) The terms “a,” “an,” and “the” include plural referents unless context clearly indicates otherwise. Similarly, the word “or” is intended to include “and” unless context clearly indicate otherwise. The word “or” means any one member of a particular list and also includes any combination of members of that list.

(20) The terms “invention” or “present invention” as used herein are not intended to refer to any single embodiment of the particular invention but encompass all possible embodiments as described in the specification and the claims.

(21) The term “about” as used herein refers to variation in the numerical quantities that can occur, for example, through typical measuring techniques and equipment, with respect to any quantifiable variable, including, but not limited to, mass, volume, time, distance, angle, wavelength, frequency, voltage, current, and electromagnetic field. Further, given solid and liquid handling procedures used in the real world, there is certain inadvertent error and variation that is likely through differences in the manufacture, source, or purity of the ingredients used to make the compositions or carry out the methods and the like. The claims include equivalents to the quantities whether or not modified by the term “about.”

(22) The term “configured” describes an apparatus, system, or other structure that is constructed to perform or capable of performing a particular task or to adopt a particular configuration. The term “configured” can be used interchangeably with other similar phrases such as constructed, arranged, adapted, manufactured, and the like.

(23) Terms such as first, second, vertical, horizontal, top, bottom, upper, lower, front, rear, end, sides, concave, convex, and the like, are referenced according to the views presented. These terms are used only for purposes of description and are not limiting unless these terms are expressly included in the claims. Orientation of an object or a combination of objects may change without departing from the scope of the invention.

(24) The apparatuses, systems, and methods of the present invention may comprise, consist essentially of, or consist of the components of the present invention described herein. The term “consisting essentially of” means that the apparatuses, systems, and methods may include additional components or steps, but only if the additional components or steps do not materially alter the basic and novel characteristics of the claimed apparatuses, systems, and methods.

(25) The following embodiments are described in sufficient detail to enable those skilled in the art to practice the invention however other embodiments may be utilized. Mechanical, procedural, and other changes may be made without departing from the spirit and scope of the invention. Accordingly, the scope of the invention is defined only by the appended claims, along with the full scope of equivalents to which such claims are entitled.

(26) Referring now to the drawings, the FIGS. 5-8 and 10-13 show various embodiments for a mechanism 100 combining articulation, side-shift and indexing. The mechanism 100 is a parallel manipulator similar to a Gough-Stewart platform except in that the mechanism 100 more effectively mitigates unexpected rotation when coupling two transmission devices to one another and has predictable but limited vertical travel of the platform to the extent of the motion of the fixed-length link. The mechanism 100 improves upon the Gough-Stewart platform by (1) reducing the number of actuators that are required, (2) requiring simpler mathematics for control, and (3) providing a neutral structure for incorporating a rotating drive shaft.

(27) The structure of mechanism 100 comprises a base 101 and a platform 102. The platform 102 and the base 101 are spherically and pivotally connected to a platform end and a base end of a fixed-length link 103 at a platform origin, platform center, or platform center origin and a base origin, base center or base center origin, respectively. The fixed-length link 103 freely rotates about a spherical joint but restricts the rotation of the base 101 relative to the platform 102 along a longitudinal axis 113.

(28) The platform 102 and the base 101 can also be generically referred to as rigid frames. It is contemplated that a rigid frame is a body with at least one rigid surface which is preferably where the platform 102 and base 101 spherically and pivotally connected to each end of a fixed-length link 103.

(29) The platform 102 and the base 101 may take on any known three-dimensional shape and may be purposely shaped to limit collisions between components which may limit the range of motion of the mechanism 100. For example, the shape of a rigid frame may be selected from the group consisting of cylinders, ellipsoids (including spheres), partial ellipsoids (including hemispheres), regular polyhedrons (including pyramids, cubes, etc.), irregular polyhedrons, cones, surfaces of revolution (including tori), helixes (i.e., coils and springs), and a combination thereof. A rigid frame may comprise any one or a combination of known rigid materials, such as metals and metallic alloys, steel, plastics, composites, wood, stone, glass, and synthetic materials imitating the properties of any of the preceding materials. The rigid frame may be solid, partially hollow, or completely hollow.

(30) Similarly, a rigid surface of the platform 102 and the base 101 may take on any known two-dimensional shape. For example, the shape of the rigid surface may be selected from the group consisting of ovals (including ellipses, circles, etc.), partial ellipses (including semicircles), stadiums, regular polygons (including triangles, rectangles, etc.), irregular polygons, cones, biaxial-curved or Non-uniform Rational B-spline (NURBS) surfaces and a combination thereof.

(31) The platform 102 and the base 101 or a rigid surface of the platform 102 the base 101 may even take on shapes of letters or numbers. The shape of the aforementioned objects may also comprise curves and splines extruded in two or three dimensions. The term “spline” is defined as a piecewise polynomial parametric curve, the shape of which depends on the values of the intervals it is made up of. In other words, the term “spline” encompasses straight lines and irregularly shaped lines.

(32) The base 101 (or alternatively, of the fixed-length link 103 if the base is completely fixed) is oriented by at least two lower variable-length links 104-106 (106 not shown). The lower variable-length links 104-106 (106 not shown) are spherically connected between the base 101 and the fixed-length link 103 at a first location on the base perimeter and at a second location towards a platform end on the surface 117 of the fixed-length link 103, as shown in FIG. 1. Alternatively, the base 101 is oriented by at least two lower variable-length links 104-106 (106 not shown). The lower variable-length links 104-106 (106 not shown) are spherically connected between the base 101 and the fixed-length link 103 at a first location on the base perimeter and at a second location towards a platform end on the platform link anchor surface 117 of the fixed-length link 103, as shown in FIG. 1. In the embodiment of FIG. 1, the lower variable-length links 104-105 are preferably set at 90 degrees, but no more than 120 degrees, to each other. If there are three or more (N/2 times) lower variable-length links 104-106 (106 not shown), then they are preferably equidistant and symmetrically arranged around the perimeter of the base 101.

(33) The platform 102 is oriented by at least two upper variable-length links 107-109 (109 not shown) spherically connected between the fixed-length link 103 and the platform 102 at a first location on the platform perimeter and a second location towards a base end of the fixed-length link 103. The upper variable-length links 107-109 (109 not shown) are preferably set at right angles to each other. If there is a third or more upper variable-length links 109 (109 not shown), then they are preferably symmetrically arranged around the perimeter of the platform 102, spaced equidistant from the lower links 104, 105, and 106 (106 not shown) around the perimeter.

(34) It is contemplated that an embodiment exists where the upper variable-length links 107-109 (109 not shown) are spherically connected between the 102 and the base 101 at a first location on the platform perimeter and a second location on the base perimeter while the lower length links are spherically connected between the base 101 and the fixed-length link 103 at a first location on the base perimeter and at a second location towards a platform end of the fixed-length link 103. In such an embodiment, the spherical connection locations would essentially mirror that which is shown in FIG. 1. In other words, FIG. 1 already encompasses this embodiment. One of ordinary skill in the art would simply need to appreciate the fixed base 101 could be redefined as the movable platform 102 and the movable platform 102 could be redefined as the fixed base 101 without changing where the spherical connection locations occur. Alternatively, the lower variable-length links 107-109 (109 not shown) may be spherically connected between the platform 102 and the base 101 at a first location on the platform perimeter and at a second location on the base perimeter, as shown in FIG. 6.

(35) The reason there is not an embodiment shown where the upper variable-length links 107-109 (109 not shown) are spherically connected between the base 101 and the platform 102 at a first location on the platform perimeter and at a second location on the base perimeter while the lower variable-length links 104-106 (106 not shown) are spherically connected between the base 101 and the platform 102 at a first location on the base perimeter and at a second location on the platform perimeter (i.e., a “bird cage” design) is because this would restrict movement such that at least one degree of freedom is lost.

(36) The primary function of the mechanism 100 is to adjust a movable platform 102 relative to a fixed base 101. More particularly, the platform 102 has five degrees of freedom with respect to the base 101, i.e., three translations and two rotations. The mechanism 100 effectively “points” towards a desired direction through the use of at least four total actuators (i.e., variable-length links 104-109 (106 and 109 not shown) to ensure proper functioning of the mechanism 100. The primary draft load is generally carried through the fixed-length link 103, however more variable-length links 104-109 (106 and 109 not shown) may be incorporated to hold working forces, as is shown in FIGS. 1-6. Selecting the number of variable-length links 104-109 (106 and 109 not shown) is a balancing act: using more actuators adds more weight, cost, geometric complexity (thus increasing the chance of collisions between components); on the other hand, using more actuators increases the stability and load carrying capacity of the device.

(37) In a preferred embodiment, the base 101 and the platform 102 are constructed with symmetry around the z-axes. The single fixed-length link 103 ends are centered in the base 101 and the platform 102 and has a device that restricts relative rotation between the base 101 and the platform 102. Two or more lower variable-length links 104-106 (106 not shown) and two or more upper variable-length links 107-109 (109 not shown) are spaced radially and equidistant from each other and offset one-half the distance from each other base 101 to platform 102 on the z-axis. In another embodiment, one variable-length link 106, 109 (not shown) can be removed from each set of variable-length links to form the minimum number of actuators required to control the mechanism 100. The third, fourth and so on variable-length link 106, 109 (not shown) in each set over-constrains the model, but if allowed to float during adjustment, and clamped in position may be useful for attaining and holding higher stall loads. One of ordinary skill in the art would simply need to appreciate that an air bag with numerous individual air vessel chambers in which the pressure of each cell is adjusted and controlled individually, could also be used as variable-length links.

(38) When equipped with the appropriate drive components, the mechanism 100 repositions transmission devices 121-122 coupled to the mechanism 100, such as tires, propellers, and jets, etc. so that power from the power transmission device is smoothly redirected via the translations and rotations imparted to the platform 102 by the variable-length links 104-109 (106 and 109 not shown). The transmission devices 121-122 are preferably coupled to the mechanism 100 with base powered transmission shaft 110 axially connected to the base 101 and a platform rotating shaft 112 axially connected to the platform, as shown in FIGS. 1-6. However, it should still be appreciated that in order for the mechanism 100 to adjust the platform 102 to “point” in a desired direction, no rotating components 110-112, 121-122 need actually be incorporated. For example, the mechanism 100 can be used for a powered as well as a non-powered wheel transmission device 122, when only a spindle, without a powered axle, is present in the device.

(39) FIG. 3 depicts a base 101, and preferably a fixed base, containing a stationary local reference framework with respect to an x-y plane at the base origin 114 with orthogonal axes x, y, and z. The base 101 includes at least a portion of a spherical connection 120, i.e., the ball of a ball joint including the spherical pin-biaxially curved slot of a ball joint, or a homokinetic joint at the base center 114. For example, the embodiment shown in FIG. 4 prevents rotation about the longitudinal axis 113 by means of the spherical pin-biaxially curved slot in the spherical fixed-length link 103 ends. More particularly, FIG. 4 is the spherical pin 131 of the base 101 sliding in the biaxially curved slot 132 in the pivotal connection 120 at the base end of the fixed-length link 103. It should be appreciated the pin-slot at each end of the fixed-length link 103 is only one means of preventing such rotation. Other means could also prevent rotation such as, but not limited to, a universal or a homokinetic (constant velocity) joint.

(40) The slots 132 is indexed on the fixed-length link 103 to time the location of the variable-length links 104-109 (106 and 109 not shown) around the perimeter of the base 101 and platform 102, respectively. The indexing is related to the number of variable-length links 104-109 (106 and 109 not shown) are utilized. Given that N is the number of variable-length links used, and N is always even at least four, then the slot at the base 132 and the slot 132′ at the platform end of the fixed-length link are indexed by the following formula:
Slot index angle (in degrees)=180×(360/N) clockwise or counter-clockwise  (1)

(41) The platform origin 115 can be substantially identical to the base origin 114 with respect to spherical pin-biaxially curved slot except in that the platform origin 115 would be offset by a given angle to time the variable-length link 104-109 (106 and 109 not shown) connections. Thus, while the reference numerals of FIGS. 3-4 relate to the base 101 and base origin 114, it should be appreciated the platform 102 and platform origin 115 will produce a substantially identical view. More particularly, the platform 102 would be oriented with a cavity facing downward with its own orthogonal coordinates x′″, y′″, and z′″ aligned with the base reference framework.

(42) The platform origin 115 movement is controlled by the upper variable-length links 107-109 (106 and 109 not shown) and can be translated with respect to the x and y axes. The z-axis location of the platform origin 115 is dependent upon the position of the fixed-length link 103 and is controlled by the spherical boundary generated by the fixed-length link 103 and the respective x and y translations. As shown in FIG. 5, the upper variable link links 107-109 (109 not shown) are attached in at least two points to the fixed-length link 103 which define a platform link anchor surface 116 with its own orthogonal coordinates x′, y′, and z′. The lower variable link links 104-106 (106 not shown) are attached to the fixed-length link 103 at two or more points which define a base link anchor surface 117 with its own orthogonal coordinates x″, y″, and z″. The x-axis is always parallel to the x′, x″, and x′″ axes. The y-axis is always parallel to the y′, y″, and y′″ axes.

(43) As shown in FIG. 6, at least two equally spaced lower variable-length links 104, 105 connect the base 101 to the fixed-length link 103 and are used for positioning the fixed-length link 103 relative to the base 101. The lower variable-length links 104-106 (106 not shown) extend from the base 101 and connect to the base link anchor surface 117 at points that lie encircled around the longitudinal axis 113 on a plane normal to the fixed-length link 103 at x″, y″, and z″ between points x′, y′, and z′ and the platform origin 115, respectively.

(44) As shown in FIGS. 5 and 7, 8, 10-13, at least two equally spaced upper variable-length links 107-109 (109 not shown) connect the platform 102 to the fixed-length link 103 or alternatively connect the platform 102 to the base 101 (FIG. 6). The upper variable-length links 107-109 are used for positioning the platform 102 relative to the fixed-length link 103 (FIGS. 5 and 7, 8, 10-13) or the base 101 (FIG. 6). The upper variable-length links 107-109 (109 not shown) extend from the platform 102 and connect to the base link anchor surface 117 at points that lie encircled around the longitudinal axis 113 on a surface normal to the longitudinal axis 113 of fixed-length link 103 at x″, y″, and z″ between points x′, y′, and z′ and the base origin 114, respectively.

(45) Other devices may be attached to the base 101 and the platform 102 that include static position or normal rotation. For example, FIG. 12 shows how a singular transmission device 121 could be positioned to rotate normal to the platform 102 by way of a platform rotating shaft 112.

(46) Rotational power may also be transmitted through the fixed-length link 103 by means of a solid shaft 111 and homokinetic joints or by flexible power shaft. It is to be appreciated “power transmission devices” (PTDs) refer to any components which transmits power and comprises at least some of the components of FIG. 9 such shafts 110, 112, the solid shaft 111, and universal or Rzeppa-style homokinetic joints, reasonable or known alternatives to said components such as flexible shafts for power transmission, and the base and platform transmission devices 121/122 of FIGS. 7, 8, 10 and 13.

(47) FIG. 14 shows in particular an intelligent control 123 receiving an input 124 and transmitting an output 126. The output 126 is determined with calculations performed in an algorithm 125. The algorithm is executed based on at least the received input 124 and aims to determine and control a location of the platform origin 115 and base origin 114 to orient the platform 102 and the base 101. The input 124 may be continuously received by the intelligent control 123 such that the intelligent control is able to continuously control a location of the platform origin 115 and base origin 114 to orient the platform 102 and the base 101. Such control and orientation allow for the intelligent control 123 to reposition base and platform transmission devices 121/122, such as a drawbar.

(48) The intelligent control 123 may include communication components, a display, or a combination thereof. Examples of such an intelligent control 123 may be a tablet, a telephone, a handheld device, a laptop, a user display, a gaming controller (i.e. PlayStation controllers), or generally any other computing device capable of allowing input 124, providing options, and showing output 126 of electronic functions. Still further examples include a microprocessor, a microcontroller, or another suitable programmable device and a memory. The intelligent control 123 also can include other components and can be implemented partially or entirely on a semiconductor (e.g., a field-programmable gate array (“FPGA”)) chip, such as a chip developed through a register transfer level (“RTL”) design process.

(49) The memory includes, in some embodiments, a program storage area and a data storage area, such as the database 128. The program storage area and the data storage area can include combinations of different types of memory, such as read-only memory (“ROM”, an example of non-volatile memory, meaning it does not lose data when it is not connected to a power source) or random-access memory (“RAM”, an example of volatile memory, meaning it will lose its data when not connected to a power source). Some additional examples of volatile memory include static RAM (“SRAM”), dynamic RAM (“DRAM”), synchronous DRAM (“SDRAM”), etc. Additional examples of non-volatile memory include electrically erasable programmable read only memory (“EEPROM”), flash memory, a hard disk, an SD card, etc. In some embodiments, the processing unit of the intelligent control 123, such as a processor, a microprocessor, or a microcontroller, is connected to the memory and executes software instructions that are capable of being stored in a RAM of the memory (i.e., during execution), a ROM of the memory (i.e., on a generally permanent basis), or another non-transitory computer readable medium such as another memory or a disc.

(50) The input 124 may relate to an environmental condition such as a quantity of sunlight or soil characteristics or may be preloaded from a database 128. Furthermore, it is contemplated that the mechanism 100 includes a sensor 127 or modules for sensing the input 124. The sensor 127 can be placed on or around the mechanism 100 to provide information to the intelligent control 123. The sensor 127 or modules may be selected from the group comprising vision sensors, radar sensors, LIDAR sensors, heat/temperature sensors, solar azimuth and orientation sensors, moisture content sensors, radio frequency sensors, short-range radio, long-range radio, antennas, accelerometers, position sensors, pressure sensors, force sensors, and fluid level sensors. The sensor 127 can be grouped together with other sensors in any manner and can be used to determine many aspects. To elaborate, the accelerometers could sense acceleration of an object in a variety of directions (i.e., an x-direction, a y-direction, etc.). The position sensors could sense the position of one or more components of an object. Pressure sensors could sense the pressure of a gas or a liquid. The fluid level sensors could sense a measurement of fluid contained in a container or the depth of a fluid in its natural form such as water in a river or a lake. Fewer or more sensors can be provided as desired. For example, a rotational sensor can be used to detect speed(s) of object(s), motion or distance sensors can be used to detect the distance an object has traveled, one or more timers can be used for detecting a length of time an object has been used and/or the length of time any component has been used, and temperature sensors can be used to detect the temperature of an object or fluid.

(51) The algorithm 125 executed by the intelligent control 123 may utilize some or all of the following calculations, which are typically made with respect to the mechanism 100 combining articulation, side-shift and indexing.

(52) The coordinates of an origin of the base link anchor surface 117, O.sub.BLA, can be defined by three translational displacements with respect to the base reference framework, one for each orthogonal axis, where vector T.sub.BLA, of fixed length l.sub.0BLA, is the translation vector of O.sub.BLA with respect to the base reference framework.

(53) The x.sub.0 and y.sub.0 coordinates of O.sub.BLA are obtaining by projecting T.sub.BLA onto the base x-y plane. The values result from the combination of the rotation angle α (orientation) and angle β (tilt), measured from the base x-z plane and the base z-axis, respectively. The following equations provide O.sub.BLA displacements from the base origin 114, O.sub.B, based on the varying rotation and tilt angles of the fixed-length link 103:
x.sub.0=l.sub.0*(sin β cos α)  (2a)
y.sub.0=l.sub.0*(sin β sin α)  (2b)

(54) In general, z.sub.0 is the height of the O.sub.BLA above the base x-y plane. The height is determined by the equation:
z.sub.0=l.sub.0*√{square root over (1−((sin β cos α).sup.2+(sin β sin α).sup.2))}  (2c)

(55) In the special case, β=0, α can range from 0 to a radians; however, by definition, the displacements x.sub.0 and y.sub.0 are zero along both the x-axis and the y-axis, respectively, and displacement along the z-axis is z.sub.0=l.sub.0.

(56) Similarly, since they also lie on the same longitudinal axis 113, the O.sub.BO.sub.PLA axis, the coordinates of O.sub.PLA and the platform origin 115, O.sub.P, can be determined by three translational displacement with respect to the base reference framework, one for each axis.

(57) Two angular displacements define the orientation of the platform 102 with respect to the platform link anchor surface 116, which in this case is a plane. A set of Euler angles are used in the following sequence. The fixed-length link 103 is constrained at both ends to prevent longitudinal axis 113 (O.sub.BO.sub.P axis) rotation. Thus, there is no rotation w (yaw) about the z-axis of the platform 102.

(58) Rotate an angle θ (pitch) around the y-axis of the platform 102:

(59) $\begin{array}{cc}{R}_y\left(\theta \right)=\left(\begin{array}{ccc}\cos \theta & 0& \sin \theta \\ 0& 1& 0\\ -\sin \theta & 0& \cos \theta \end{array}\right)& \left(3a\right)\end{array}$

(60) Rotate an angle φ (roll) around the x-axis of the platform 102:

(61) $\begin{array}{cc}{R}_x\left(\psi \right)=\left(\begin{array}{ccc}1& 0& 0\\ 0& \cos \phi & -\sin \phi \\ 0& \sin \phi & \cos \phi \end{array}\right)& \left(3b\right)\end{array}$

(62) The full rotation matrix of the platform 102 relative to the platform link anchor surface 116 is then given by:

(63) $\begin{array}{cc}{M}^P{R}_B=R_y\left(\theta \right)*R_x\left(\psi \right)=\left(\begin{array}{ccc}\cos \theta & 0& \sin \theta \\ 0& 1& 0\\ -\sin \theta & 0& \cos \theta \end{array}\right)*\left(\begin{array}{ccc}1& 0& 0\\ 0& \cos \phi & -\sin \phi \\ 0& \sin \phi & \cos \phi \end{array}\right)& \left(3c\right)\\ M^P{R}_B=\left(\begin{array}{ccc}\cos \theta & \sin \theta \sin \phi & \sin \mathrm{\theta cos\phi }\\ 0& \cos \phi & -\sin \phi \\ -\sin \theta & \cos \mathrm{\theta sin\phi }& \cos \mathrm{\theta cos\phi }\end{array}\right)& \left(3d\right)\end{array}$

(64) The orientation of the platform 112 normal vector with respect to the platform link anchor surface 116 can thus be determined. Control systems make use of these parameters as well. Now consider the platform 112, P, as shown in FIG. 15. For the i.sup.th link the vector coordinates q.sub.i of the anchor point P.sub.i with respect to the platform link anchor surface 116 reference framework are given by the following equation:
q.sub.i=T+M.sup.PR.sub.B*p.sub.i  (4)
Wherein T.sub.PLA is the length of the vector from O.sub.PLA to O.sub.P and pla.sub.i is the vector defining the coordinates of the anchor point P.sub.PLAi with respect to the platform reference framework.

(65) Similarly, the length of the i.sup.th actuator is given by the equation:
l.sub.i=q.sub.i−pla.sub.i  (5)
wherein pla.sub.i is the vector defining the coordinates of the lower anchor point P.sub.PLAi. These equations thus give the lengths of the two or more upper variable-length links 107-109 (109 not shown) or actuators to achieve the desired position and attitude (orientation) of the platform 102.

(66) There is enough information to calculate the lengths of the effective “actuators” for the reverse kinematics of the platform. The calculations can be captured and embodied in a spreadsheet having calculation capabilities, graphing tools, pivot tables, and a macro programming language such as Microsoft Excel. The spreadsheet can then be used to drive CAD models having variable-length links 107-109 (109 not shown).

(67) To implement the mechanism 100, one needs to consider the following different modes of operation: “Calibration” “Home” The first step is to calibrate the mechanism 100 to a home position. The home position is preferably where the platform 102 is at a height z.sub.0=l.sub.0 above the base framework and there is no other translation or rotational movement; i.e., θ=φ=ψ=0. “Trim” Depending on the mode of operation, it may be desirable to provide a trim position such that the mechanism 100 returns to a preset position when the controls are released. “Positioning” “Defined vector” Calculated positions; i.e., follow the sun “Single-joystick” Directed motion; defined by only the normal of the fixed-length link 103 T vector ratioed-angle; the normal of the fixed-length link 103 is always ratioed to the normal of the platform 102, directed in the same plane “Dual-joysticks” Directed motion defined by both the normal of the fixed-length link 103 and the normal of the platform 102 “Position held upon control release” (all cases)
One must also consider the characteristics and tolerances of the controller and actuators in the system, as well as limitations induced by the geometry of the actuators with respect to the base 101 and the platform 102, i.e., interference between the components of the mechanism 100.

(68) The circuitry of the intelligent control 123 used to control the platform 102 may be based on a C++ program communication via USB connections attached to linear actuator controllers.

(69) An example sequence of events may be as follows: 1. Input the positional information for the base 101, platform 102, and fixed-length link 103; i.e., l.sub.0, l.sub.0BLA, l.sub.0PLA, bla.sub.i, pla.sub.i, b.sub.i, p.sub.i. These are all constraints from the build of the mechanism 100. 2. Input the constraints for the rate and range of movement. 3. Input the variables for (α, β, θ, and φ), those required for the platform position. 4. Calculate the values of O.sub.P0 from Equation 1. 5. Calculate the rotational matrix M.sup.PR.sub.B from Equation 2. 6. Calculate the effective variable-length link lengths l.sub.i from Equation 4. 7. Determine that the lengths do not exceed the constraints for rate and range of movement identified in the constraints in step 2. 8. Return to step 3 to repeat the process.

(70) From the foregoing, it can be seen that the present invention accomplishes at least all of the stated objectives.

LIST OF REFERENCE NUMERALS

(71) The following list of reference numerals is provided to facilitate an understanding and examination of the present disclosure and is not exhaustive. Provided it is possible to do so, elements identified by a numeral may be replaced or used in combination with any elements identified by a separate numeral. Additionally, numerals are not limited to the descriptors provided herein and include equivalent structures and other objects possessing the same function. 100 mechanism combining articulation, side-shift and indexing 101 base 102 platform 103 fixed-length link 104 first lower variable-length link 105 second lower variable-length link 106 third, fourth, or more, lower variable-length link 107 first upper variable-length link 108 second upper variable-length link 109 third, fourth, or more, upper variable-length link 110 base rotating shaft 111 intermediate power transmission shaft (with pin-in-slot, universal or homokinetic joints or a flexible power shaft) 112 platform rotating shaft (power or non-power transmitting) 113 longitudinal axis of fixed-length link 114 base origin/base center/base center origin 115 platform origin/platform center/platform center origin 116 platform link anchor surface (i.e., generally a planar surface, or a spherical surface centered at the base origin) 117 base link anchor surface (i.e., generally a planar surface, or a spherical surface centered at the platform origin) 118 base origin plane 119 platform origin plane 120 pivotal connection (i.e. spherical joint where a spherical pin in biaxially curved slot, a universal joint or a homokinetic joint, such as a Rzeppa-style constant velocity joint, restricts axial rotation about the longitudinal axis of the fixed-length link) 121 platform transmission device (i.e. a drawbar, a quik-tatch hitch a solar mirror, solar tracking umbrella, an automotive wheel, a gearbox, a fan, a propeller, a water nozzle, a rocket engine, etc.) 122 base transmission device (i.e. a stand with electric motor, a vehicle Power-Take Off (PTO) shaft, a drive shaft, an axle shaft, engine flywheel, etc.) 123 intelligent control 124 input 125 algorithm 126 output 127 sensor 128 database 129 base, platform, split fixed-length link with universal joints, variable-length links 130 coupler, with indexing (optional) 131 base, platform, fixed-length link, variable-length links with manual turnbuckles 132 base, platform, fixed-length link, variable-length links adjusted for slight articulation and side-shift 133 base normal vector 134 platform normal vector 135 turntable 136 turntable indexer

(72) The mechanism combining articulation and side-shift used in a system provides several advantages. The following list is not meant to be exclusive, but includes: A mechanism and a methodology for simultaneously positioning a platform origin relative to a base origin and orienting the platform relative to the base. An animated yard decoration consisting of a draped inflatable skin that moves relative to a mechanism that articulates and side shifts while rotating on a turntable. A mechanism for aligning an antenna mounded to the platform for sending or receiving satellite communications, for positioning and orienting the shade during the day to a designated area on the ground or an elevated surface lying beneath a parasol mounded to the platform, or for tracking a mirror mounded to the platform to reflect the solar energy toward a thermal energy generator tower, throughout the day. A method to control the relative position of an agricultural implement pulled by a tractor with a subject hitch mechanism relative to the rows of crop in a field. The mechanism provides row guidance for both directional and non-directional implements, alike. Furthermore, a mechanism and a methodology for simultaneously positioning a platform origin relative to a base origin and orienting the platform relative to the base to align or control the vector of draft or thrust loads. The primary component of load transfer is through the fixed-length link connecting the base and the platform. Secondary loads are used to steer the 3D mechanism via four or more variable-length links. A method for orienting a 3D propulsion vector with respect to the center of mass for a vehicle, such as a rocket, drone, aircraft or boat. An axle mechanism to provide a ground engaging device adjustable caster, camber, toe-in, and steering angle on the go, such as for auto racing and/or rock climbing vehicle. A mechanism to allow an aircraft to land with the longitudinal axis of the craft aligned with the runway heading during a crosswind maneuver. A coupling mechanism to attach an implement more automatically to a tractor, thus reducing an operator's exposure to crush or nip point injuries during the coupling process.

(73) The present disclosure is not to be limited to the particular embodiments described herein. The following claims set forth a number of embodiments of the present disclosure with greater particularity.