Self-balanced apparatus for hoisting and positioning loads, with six degrees of freedom
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United States of America Patent
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Jan 3, 2017
Grant Date -
Oct 20, 2016
app pub date -
Apr 14, 2016
filing date -
Apr 15, 2015
priority date (Note) -
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Abstract
An apparatus for hoisting and positioning a load in a self-balanced manner regardless of the position of its center of gravity. The apparatus comprises an upper platform adapted for being hoisted from a general hoisting point, a lower platform adapted the attachment of a load to be hoisted and positioned, and a six degrees of freedom actuator comprising six variable length tendons, adapted for moving the lower frame with respect the upper frame in the three directions of the space and tilted around the three axis of the space. A configurable counterweight system supported by the upper platform is arranged for modifying the center of mass of the apparatus over a horizontal plane, and processing means are configured for dynamically calculating a desired position of the counterweight system, for balancing the apparatus with the respect to a general hoisting point.
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