TITLE: MECHANISM COMBINING ARTICULATION AND SIDE-SHIFT

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims priority under 35 U.S.C. § 119 to provisional patent

5 application U.S. Serial No. 62/748,166, filed October 19, 2018. The provisional patent application is herein incorporated by reference in its entirety, including without limitation, the specification, claims, and abstract, as well as any figures, tables, appendices, or drawings thereof. lu FIELD OF THE INVENTION

The present invention relates generally to a coupling mechanism and corresponding method of use. The coupling mechanism may be applied to solve problems in at least the agricultural, mechanical, electrical, electromechanical, industrial, aeronautical,

astronautical, civil, and software engineering fields. More particularly, but not exclusively,

15 the present invention relates to a mechanism providing articulation, double articulation, and lateral shifting by means of reversed-double articulation which mitigates unexpected rotation and indeterminate positioning.

BACKGROUND OF THE INVENTION

20 The background description provided herein is for the purpose of generally

presenting the context of the present disclosure. Work of the presently named inventors, to the extent the work is described in the present disclosure, as well as aspects of the description that may not otherwise qualify as prior art at the time of filing, are neither expressly nor impliedly admitted as prior art.

25 In agricultural row cropping, articulated and side-shift guidance for implements directly conflicts with the standard 3-point hitch geometry of tractors. Thus, agricultural vehicles would benefit from having a hitch mechanism which could both steer and laterally shift the implement to reduce lateral forces which would otherwise be transmitted to the vehicle.

Such a mechanism has been described by U.S. Patent No. 5,997,024, issued Dec. 7, 1999 The mechanism includes three variable links connected from the base to the platform. However, the mechanism of this patent is unstable, resulting in expected rotation and indeterminant position s of the hitch coupler.

Thus, there exists a need in the art for a mechanism which addresses the deficiencies in the art.

5

SUMMARY OF THE INVENTION

Therefore, it is a primary object, feature, or advantage of the present invention to improve on or overcome the deficiencies in the art.

It is still yet a further object, feature, or advantage of the present invention to lu provide a mechanism which restricts rotation of a fixed-length link and a rigid frame, e.g. a platform or a base, along a longitudinal axis of the fixed-length link.

It is still yet a further object, feature, or advantage of the present invention to provide a mechanism which couples two objects together, wherein at least one of the objects is movable with respect to the other object.

15 It is still yet a further object, feature, or advantage of the present invention to

provide a mechanism that may be used in a wide variety of applications. For example, the mechanism can be coupled to one or more power transmission devices and operatively attach to a movable object selected from the group consisting of an agricultural implement, an agricultural vehicle, an umbrella, a parasol, an array of solar panels, a satellite dish, an

20 antenna, an aircraft propeller, a boat impeller, an automotive wheel, an actuator, a blade and a nozzle.

It is still yet a further object, feature, or advantage of the present invention to provide a mechanism that improves safety. For example, the mechanism may align and couple two objects together automatically.

25 It is still yet a further object, feature, or advantage of the present invention to

provide a mechanism that is cost effective.

It is still yet a further object, feature, or advantage of the present invention to provide a mechanism that is reliable and durable and has a long usable life.

It is still yet a further object, feature, or advantage of the present invention to provide a mechanism which is easily used and reused. It is still yet a further object, feature, or advantage of the present invention to provide a mechanism that is easily manufactured, assembled, installed, disassembled, uninstalled, customized, and repaired.

It is still yet a further object, feature, or advantage of the present invention to

5 provide a mechanism that is aesthetically pleasing.

It is still yet a further object, feature, or advantage of the present invention to incorporate a mechanism into a system accomplishing some or all of the previously stated objectives.

It is still yet a further object, feature, or advantage of the present invention to lu provide methods of using, manufacturing, installing, or repairing a mechanism

accomplishing some or all of the previously stated objectives.

The previous list of objects, features, or advantages of the present invention are not exhaustive and do not limit the overall disclosure. Likewi se, the following list of aspects or embodiments do not limit the overall disclosure. It is contemplated that any of the objects,

15 features, advantages, aspects, or embodiments disclosed herein can be integrated with one another, either in full or in part, as would be understood from reading the disclosure.

According to some aspects of the present disclosure, a method for providing lateral shifting and articulation capabilities comprises carrying a primary draft load between a base and a platform with a fixed-length link, said fixed-length link having a longitudinal

20 axis running between the base and the platform, allowing for translation in at least two independent orthogonal directions of a platform origin (the third orthogonal direction being necessarily dependent on the geometry of the fixed-length link and the said independent translations) located on the platform with respect to a base origin located on the base, restricting rotation of the fixed-length link, the base, and the platform along the

25 longitudinal axis, allowing for rotation(s) of the fixed-length link with variable-length link actuators connected to the base and the fixed-length link, and allowing for rotation of the platform with variable-length links pivotally connected to the platform and either (a) the fixed-length link or (b) the base.

According to some additional aspects of the present disclosure, the method further comprises manually adjusting the length of the variable-length links and securing them in place to position the platform origin and base origin and controlling an orientation of the platform and the base to maintain a set position. According to some additional aspects of the present disclosure, the method further comprises receiving an input with an intelligent control, and in response to receiving the input, controlling with the intelligent control a location of the platform origin and base origi n and controlling an orientation of the platform and the base.

5 According to some additional aspects of the present disclosure, the intelligent

control determines the location of the platform origin and base origin and the orientation of the platform and the base with an algorithm.

According to some additional aspects of the present disclosure, the method further comprises sensing the input with a sensor.

lu According to some additional aspects of the present disclosure, the input relates to an environmental condition.

According to some additional aspects of the present disclosure, the method further comprises determining the input with preloaded data.

According to some additional aspects of the present disclosure, the location of the

15 platform origin and base origin and the orientation of the platform and the base are

controlled by the intelligent control continuously.

According to some additional aspects of the present disclosure, the method further comprises calibrating a home position with the intelligent control.

According to some additional aspects of the present disclosure, the method further

20 comprises returning the platform and the base to a trim position with the intelligent control when controls for the intelligent control are released.

According to some additional aspects of the present disclosure, the method further comprises transmitting power between the platform and the base.

According to some additional aspects of the present disclosure, the method further

25 comprises coupling the platform to a movable object.

According to some additional aspects of the present disclosure, the method further comprises coupling the base to a fixed object.

According to some other aspects of the present disclosure, an attachment mechanism comprises a movable platform having a platform center and a platform perimeter, a fixed-length link, and variable-length links each having a first end pivotally connected to the platform perimeter and a second end including a portion of a pivotal connection. The fixed-length link comprises a platform end pivotally connected to the movable platform at the platform center, a base end extending away from the platform end, and a longitudinal axis running from the platform end to the base end. Rotation of the fixed-length link and the platform is restricted along the longitudinal axis.

According to some additional aspects of the present disclosure, the variable-length

5 links extend generally parallel to each other and are symmetrically spaced around the

platform perimeter.

According to some additional aspects of the present disclosure, there are three variable-length links.

According to some additional aspects of the present disclosure, wherein each of the lu variable-length links include a linear actuator, like a hydraulic, pneumatic or electric

cylinder.

According to some additional aspects of the present disclosure, the second end of each of the variable-length links is pi votally connected to the fixed-length link near the base end.

15 According to some additional aspects of the present disclosure, each pivotal

connection is formed with a spherical joint.

According to some additional aspects of the present disclosure, wherein the attachment mechanism further comprises a fixed base having a base center and a base perimeter and additional variable-length links each having a first end pivotally connected

20 to the base perimeter and a second end including a portion of a pivotal connection. The base end of the fixed-length link is pivotally connected to the fixed base at the base center.

According to some additional aspects of the present disclosure, the fixed-length link further comprises a rotating drive shaft running axially through the fixed-length link to transmit power from the fixed base to the movable platform.

25 According to some additional aspects of the present disclosure, the second end of each of the additional variable-length links is pivotally connected to the fixed-length link near the platform end.

According to some additional aspects of the present disclosure, the second end of each of the additional variable-length links is pivotally connected to the platform perimeter.

According to some other aspects of the present disclosure, a system comprises the attachment mechanism and an output power transmission device coupled to the platform. According to some additional aspects of the present disclosure, the system further comprises an input power transmission device coupled to the base.

According to some additional aspects of the present disclosure, the output power transmi ssion power device and the input power transmission device transmit power

5 through constant velocity joints.

According to some other aspects of the present disclosure, part of a mechanical assembly comprises a rigid frame having a center and a perimeter, a portion of a fixed- length link, and variable-length links each having a first end pivotally connected to the perimeter and a second end including a portion of a pivotal connection. The portion of the lu fixed-length link comprises a proximate end attached to the rigid frame at the center, a distal end extending away from the rigid frame, and a longitudinal axis running from the proximate end to the distal end. Rotation of the portion of the fixed-length link and the rigid frame is restricted along the longitudinal axis.

According to some additional aspects of the present disclosure, the part is coupled

15 to an output power transmission device.

According to some additional aspects of the present disclosure, the part is coupled to an input power transmission device.

According to some other aspects of the present disclosure, a coupling mechanism comprises two parts described above. The parts are coupled together at least at the distal

20 end of the portion of the fixed-length link.

According to some additional aspects of the present disclosure, the parts are coupled together with a bayonet mount.

According to some additional aspects of the present disclosure, the parts are coupled together through a protrusion and an elongated slot to provide a limited amount of

25 rotation between each portion of the fixed-length link.

According to some additional aspects of the present disclosure, the parts are coupled together with an indexing mechanism.

According to some additional aspects of the present disclosure, the indexing mechanism comprises a worm gear.

According to some additional aspects of the present disclosure, the indexing mechanism comprises a lever with an actuator, like a hydraulic, pneumatic or electric cylinder, to control a portion of a fixed-length link. According to some additional aspects of the present disclosure, the coupling mechanism further comprises two portions of a rotating drive shaft coupled to one another and running axially through the fixed-length link, said portions being slip fit and keyed to transmit rotational power between the parts.

5 These or other objects, features, and advantages of the present invention will be apparent to those skilled in the art after reviewing the following detailed description of the illustrated embodiments, accompanied by the attached drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

lu Figure 1 show's a perspective view of an embodiment for a mechanism combining articulati on and side-shift, according to some aspects of the present disclosure.

Figure 2 show's a perspective view of another embodiment for a mechanism combining articulation and side-shift, according to some aspects of the present di sclosure.

Figure 3 shows a perspective view' of another embodiment for a mechanism

15 combining articulation and side-shift, according to some aspects of the present disclosure.

Figure 4 show's a perspective view of a rigid frame having a slot for a spherical joint centrally located at an origin point, according to some aspects of the present disclosure. While the reference numerals of Figure 4 relate to the base and base origin, it should be appreciated the platform and platform origin will produce a substantially

20 identical view.

Figure 5 show _' s a detailed plan view _' of a means for preventing rotation of a fixed- length link relative to the rigid frame, e.g a spherical joint, according to some aspects of the present disclosure. While the reference numerals of Figure 5 relate to the base and base origin, it should be appreciated the platform and platform origin will produce a

25 substantially identical view.

Figure 6 shows a perspective view of a fixed-length link which depicts in particular the longitudinal axis, base link anchor plane, and platform link anchor plane, according to some aspects of the present disclosure.

Figure 7 show's a perspective view depicting how the lower variable and actuatable length links are attached to 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. Figure 8 shows a perspective view depicting how the upper variable and actuatable length links are attached to the platform and the fixed-length link and used to position the platform relative to the fixed-length link, according to some aspects of the present disclosure.

5 Figure 9 shows a perspective view depicting how the upper vari ble and actuatable length links are attached to the platform and the fixed-length link and used to position the platform relative to the base, according to some aspects of the present disclosure.

Figure 10 shows a perspective view depicting how a singular power transmission device positioned to rotate normal to the platform, according to some aspects of the present lu disclosure.

Figure 11 shows a detailed plan view depicting how power transmission devices are 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.

15 Figure 12 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.

Figure 13 shows a perspective view of a system incorporating a mechanism

20 combining articulation and side-shift with a movable object such as an umbrella, according to some aspects of the present disclosure.

Figure 14 shows a perspective view of a system incorporating a mechanism combining articulation and side-shift with a movable object such as an agricultural implement, according to some aspects of the present discl osure.

25 Figure 15 show's a perspective view of a system incorporating a mechanism

combining articulation and side-shift with redirection of the thrust vector with a moveable object such as a propeller or nozzle, the shorter vector with reference to the base and the longer one with respect to the platform, according to some aspects of the present disclosure.

Figures 16 shows a geometric view of the platform with respect to the platform link anchor plane, according to some aspects of the present disclosure 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

5 present disclosure and the drawings represented herein are presented for exemplary

purposes.

DETAILED DESCRIPTION OF THE INVENTION

The following definitions and introductory matters are provided to facilitate an lu 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.

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

15 clearly indicate otherwise. The word“or” means any one member of a particular list and also includes any combination of members of that list.

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.

20 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, w ^? ave length, frequency, voltage, current, and electromagnetic field. Further, given solid and liquid handling procedures used in the real world, there is certain inadvertent

25 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.”

The term“configured” describes an apparatus, system, or other structure that is co structed 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. 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

5 combination of objects may change without departing from the scope of the invention.

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

lu components or steps do not materially alter the basic and novel characteristics of the

claimed apparatuses, systems, and methods.

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

15 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.

Referring now to the drawings, the Figures 1-11 show various embodiments for a mechanism 100 combining articulation and side-shift. The mechanism 100 is a parallel manipulator similar to a Stewart platform except in that the mechanism 100 more

20 effectively mitigates unexpected rotation when coupling two components to one another.

The mechanism 100 improves upon the 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 111.

The structure of mechanism 100 comprises a base 101 and a platform 102. The

25 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 or platform center and a base origin or base center, 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 112

The platform 102 and the base 101 can also be genetically 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.

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

5 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 (e.g, coils and springs), and a combination thereof A rigid frame may comprise any one or a lu 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.

Similarly, a rigid surface of the platform 102 and the base 101 may take on any

15 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, and a combination thereof.

The platform 102 and the base 101 or a rigid surface of the platform 102 the base

20 101 may even take on shapes of letters or numbers. The shape of the aforementioned

objects may also comprise curves, splines and non-uniform rational B-splines (nurbs) 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

25 shaped lines.

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, 105, 106 The lower variable-length links 104, 105, 106 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, as shown in Figure 1. Alternatively, the lower variable-length links 104, 105, 106 may be 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, as shown in Figure 2. In both the embodiments of Figures 1-2, the lower variable-length links 104, 105, 106 are preferably set at right angles to each other.

The platform 102 is oriented by at least two upper variable-length links 106, 107,

5 108 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 106, 107, 108 are preferably set at right angles to each other.

It is contemplated that an embodiment exists where the upper variable-length links lu 106, 107, 108 are spherically connected between the 102 and the base 101 at a first

location on the platfor 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 platfor end of the fixed-length link 103. hi such an embodiment, the spherical connection

15 locations would essentially mirror that which is shown in Figure 2. In other words, Figure 2 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.

20 The reason there is not an embodiment shown where the upper variable-length links

107, 108, 109 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, 105, 106 are spherically connected between the base 101 and the platform 102 at a first location on the base perimeter and at a second

25 location on the platform perimeter (e.g, a“bird cage” design) is because this would restrict movement such that at least one degree of freedom is lost.

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, with the exception of limited rotational float or controlled rotation of parts of the fixed-length link, discussed later. The mechanism 100 effectively“points” towards a desired direction through the use of at least four total actuators (e.g., variable-length links 104-109) to

I D 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 may be incorporated to hold working forces, as is shown in Figures 1-2. Selecting the number of variable-lengt links 104-109 is a balancing act: using more actuators adds more wei ght,

5 cost geometric complexity (thus increasing the chance of collisions between components); on the other hand, using more actuators increases the stability of the device.

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 or drastically limits relative lu rotation between the base 101 and the platform 102. Three lower variable-length links 104, 105, 106 and three upper variable-length links 107, 108, 109 are spaced radially and equidistant from each other base 101 to platform 102 on the z-axis. In the embodiment shown in Figure 3, one variable-length link 106, 109 can be removed from each set of variable-length links to form the minimum number of actuators required to control the

IS mechanism 100. The third variable-length link 106, 109 in each set over-constrains the model, but if allowed to float during adjustment, may be useful for attaining and holding higher stall loads.

When equipped with the appropriate drive components, the mechanism 100 repositions power transmission devices 121-122 coupled to the mechanism 100, such as

20 tires, propellers, and jets, 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.

In general, there is some type of fastener to connect an input power source to the input shaft of the mechani sm 100. For exampl e, Figures 1-2 allow' input and output pow'er

25 transmission devices 121-122 to be coupled to the mechanism 100 with a base coupling plate 110 and a platform coupling plate 112. The coupling plates 110, 112 can be bolted- flange type, friction type (e.g., a coupling with slot using screw loads to clamp on a smooth shaft) or other specialty mechanical types (e.g., a pin in hole with clamp nut design, as shown in Figure 3), or mating external and internal splined shafts such as a tractor power take off (PTO), to name several. There are certainly several other types of coupling plates that dampen loads, etc. No type of coupling plates is intended to be excluded if not listed herein. For example, the input power transmission device 122 could be an engine, regardless of fuel, diesel, gasoline, natural gas, hydrogen, etc.; an output shaft of an engine transmitting power through a transmission case with gears such as a tractor to the PTO shaft; or an electric, hydraulic or pneumatic rotating motor output shaft connected directly

5 to the input coupling plates’ 110 object in order to transmit rotary pow'er through the

subject mechanism to the output coupling plates’ 112 object then on to an output power transmission device. The output power transmission device 121 could be a gear box, a pump (hydraulic or pneumatic), a rotary cutting tool, a set of tiller tines, a fan, a propeller, a scre s actuator converting rotary to linear motion, or the like.

lu 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 power transmission

components 110-112, 121-122 need actually be incorporated.

Figure 4 depicts a base 101, and preferably a fixed base, containing a stationary base reference framework 118 with respect to an x-y plane at the base origin 114 with

15 orthogonal axes x, y, and z. The base 101 includes at least a portion of a spherical

connection 120, e.g. the ball of a ball joint or the ball-slot of a ball joint, at the base center 114. For example, the embodiment shown in Figure 5 prevents rotation about the longitudinal axis 113 by means of the ball-shaped extrusion 132, part of the base and platform, and the ball-slot 131 in the spherical fixed-length link 103 ends. More

20 particularly, the portion of Figure 5 shown in the ellipse is the ball of the base 101 sliding in the ball-slot in the pivotal connection 120 at the base end of the fixed-length link 103. It should be appreciated the ball-slot at each end of the fixed-length link 103 is only one means of preventing such rotation.

The platform origin 115 can be substantially identical to the base origin 114 with

25 respect to ball and ball-slot except in that the platform origin 115 w ^? ould be offset by a given angle to time the variable-length link 107-109 connections. Thus, while the reference numerals of Figures 4-5 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 ^m aligned with the base reference framework 118. The platform origin 115 movement is controlled by the upper variable-length links 107-109 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

5 respective x and y translations. As shown in Figure 6, the upper variable link links 107- 109 are attached at three points to the fixed-length link 103 which define a platform link anchor plane 116 with its own orthogonal coordinates x', y', and z'. The low'er variable link links 104-106 are attached to the fixed-length link 103 at three points which define a base link anchor plane 117 with its own orthogonal coordinates x", y", and z". The x-axis is lu always parallel to the x', x", and x"' axes. The y-axis is always parallel to the y', y", and y"' axes.

As shown in Figure 7, 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, 105

15 extend from the base 101 and connect to the base link anchor plane 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.

As shown in Figures 8-9, at least two equally spaced upper variable-length links 107, 108 connect the platform 102 to the fixed-length link 103 (Figure 8) or alternatively

20 connect the platform 102 to the base 101 (Figure 9) The upper variable-length links 107, 108 are used for positioning the platform 102 relative to the fixed-length link 103 (Figure 8) or the base 101 (Figure 9). The upper variable-length links 107, 108 extend from the platform 102 and connect to the base link anchor plane 117 at points that lie encircled around the longitudinal axis 113 on a plane normal to the fixed-length link 103 at x", y”,

25 and z" between points x', y', and z' and the base origin 114, respectively.

Other devices may be attached to the base 101 and the platform 102 that include static position or normal rotation. For example, Figure 10 shows how a singular power transmission device 121/121 could be positioned to rotate normal to the platform 102 by way of a platform coupling plate 112

Rotational power may also be transmitted through the hollow fixed-length link 103 by means of a solid shaft 111 and constant velocity joints or by flexible cable drives. 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 Figure 11 such as coupling plates 110, 112, the solid shaft 111, and constant velocity joints, reasonable or known alternatives to said components such as flexible cable drives, and the input and output power transmission devices 121/122 of Figures 12-14. More specifically, the power

5 transmission devices could comprise: universal joints and a splined shaft end for a PTO used to till the ground, extending field marker or pumping liquids for attached implements; straight shafts at each end of a flexible cable as in a vintage automobile speedometer used to provide speed information to a vehicle driver about the ground speed of the car or truck; steering axles, as in a front wheel drive with constant velocity (CV) joints, shafts with lu single or double universal joints to transmit rotational power to tires; shafts with CV joints used to drive an offset propeller for a boat or an airplane; or other rotational power components such as screw actuators, rotary cutter blades, and the like.

Figure 12 show's 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

IS 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

20 base 101. Such control and orientation allow' for the intelligent control 123 to reposition input and output power transmitting devices 121/122, thereby creating a system adapted to perform a particular function.

For example, such a system could comprise the umbrella system 129 of Figure 13. The umbrella system 129 is adapted for attachment to a solar umbrella and an umbrella

25 stand. The solar umbrella could be used to provide shade to a location regardless of the time of day. In another example, the hitch system 130 of Figure 14 is adapted for attachment to an agricultural implement and an agricultural vehicle. The hitch system 130 can be used as a single row tiller wrench adjustable hitch to orient the ground engaging tool’s thrust through the center of gravity of the tractor. The hitch system 130 allows for manually adjusting the length of the variable-length links and securing them in place to position the platform origin and base origin and controlling an orientation of the platform and the base to maintain a set position. Figure 15 more generically show's the differential orientation of input and output thrust vectors 133, the shorter vector with reference to the base and the longer one with respect to the platform. The system of Figure 15 could be used with a moveable object such as a propeller or nozzle.

The intelligent control 123 may include communication components, a display, or a

5 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 (e.g. 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 lu 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.

The memory includes, in some embodiments, a program storage area and a data

15 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

20 additional examples of volatile memory' include static RA : (“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

25 connected to the memory and executes software instructions that are capable of being stored in a RAM of the memory (e.g., during execution), a ROM of the memory (e.g., on a generally permanent basis), or another non-transitory computer readable medium such as another memory or a disc.

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, LIDAJR. sensors, heat/temperature sensors, solar sensors, moisture content sensors, radio frequency sensors, short-range radio, long-range radio, antennas, accelerometers, position sensors, pressure sensors, force

5 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 (e.g., 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 lu 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

15 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.

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 and side-shift.

20 The coordinates of an origin of the base link anchor plane 117, 0 _BLA , can be

defined by three translational displacements with respect to the base reference framework 118, one for each orthogonal axis, where vector T _BLA , of fixed length l _QBLA , is the translation vector of 0 _BLA with respect to the base reference framework 118.

The x ₀ and y ₀ coordinates of 0 _BLA are obtaining by projecting T _BLA onto the base 5 x-y plane. The values result from the combination of the rotation angle a (orientation) and angle b (tilt), measured from the base x-z plane and the base z-axis, respectively. The following equations provide 0 _BLA displacements from the base origin 114, 0 _B , based on the varying rotation and tilt angles of the fixed-length link 103:

x ₀ = l ₀ * (sin cosa) (la)

30 y ₀ = l _Q * ( sinfisina ) (lb)

In general, z ₀ is the height of the 0 _BLA above the base x-y plane. The height is determined by the equation:

In the special case, b = 0, a can range from 0 to 2p radians; however, by definition, the displacements x ₀ and y _Q are zero along both the x-axis and the y-axis, respectively, and displacement along the z-axis is z ₀ = l _Q .

5 Similarly, since they also lie on the same longitudinal axis 113, the O _B O _P axis, the coordinates of 0 _PLA and the platform origin 115, 0 _P , can be determined by three translational displacement with respect to the base reference framework 118, one for each axis.

Two angular displacements define the orientation of the platform 102 with respect lu to the platform link anchor plane 116. 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 (0 _B 0p axis) rotation. Thus, there is no rotation y (yaw) about the z-axis of the platform

Rotation of an angle Q (pitch) around the y-axis of the platform 102 is defined:

Rotation of an angle f (roll) around the x-axis of the platform 102 is defined:

Thus, the transformation matrix of the platform 102 relative to the base 101, M ^P R _B , also described as the full rotational matrix of the platform 102 relative to the platform link 0 anchor plane 116, is given by:

The orientation of the platform 112 normal vector with respect to the platform link anchor plane 116 can thus be determined. Control systems make use of these parameters as well. Now consider the platform 112, P, as shown in Figure 16. For the i ^th link the vector coordinates ¾ of the anchor point P _t with respect to the platform link anchor plane 116 reference framework are given by the following equation: <7 _ΐ — T + M ^P R _B * pi (3) wherein T is the length of the vector from 0 _PLA to Op and r _έ is the vector defining the coordinates of the anchor point I ^J i with respect to the platform reference framework 119.

Similarly, the length of the i ^th actuator is given by the equation:

k = i - V ^ia i ( ³ ) wherein p/a _t - is the vector defining the coordinates of the lower anchor point PLAi. These equations thus give the lengths of the two or more upper variable-length links 107-109 or actuators to achieve the desired position and attitude (orientation) of the platform 102.

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 used to drive CAD models having variable-length links 104-109.

To implement the mechanism 100, one needs to consider the following different modes of operation:

• “Calibration”

o “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 ₀ = l _Q above the base framework and there is no other translation or rotational movement; . e. , Q ----- f ip ----- 0.

o “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”

o “Defined vector”

⁸⁸ Calculated positions; e.g., follow the sun

o “Single-joystick”

⁸ 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

o “Dual -joysticks”

* Directed motion defined by both the normal of the fixed-length link 103 and the normal of the platform 102

o “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.

The circuitry of the intelligent control 123 used to control the platform 102 may be based on a logic program (e.g. C++) embedded in a computer communicating with linear actuator controllers.

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 ₀ , Pi- 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 (a, b, Q, and f), those required for the platform

position.

4. Calculate the values of O _P0 from Equation 1.

5. Calculate the rotational matrix M ^P R _B from Equation 2.

6. Calculate the effective variable-length link lengths l _t 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.

Finally, it is to be appreciated that not all of the components of the mechanism 100 need to be provided or sold in a single assembly in order to encompass the inventive ideas contained herein. For example, one of the rigid frames 101/102, a portion of a fixed-length link 103 having a a proximate end attached to the rigid frame 101/102 at the rigid frame center 114/115 and a distal end extending away from the rigid frame 101/102, and at least

? 1 two variable-length links 104/105/106/107/108/109 could be provided together as a single part and later installed on a larger mechanical assembly. The part of the mechanical assembly could even be coupled to an output power transmission device 121 or an input power transmission device 122 when provided to an end user. The coupling mechanism 100 would then be formed by coupling two corresponding parts to one another at the distal end of the portion of the fixed-length link 103 The two parts could be coupled together with a bayonet mount, a protrusion and an elongated slot to provide a limited amount of rotation between each portion of the fixed-length link 103; or an indexing mechanism (e.g. a worm gear or a lever with a hydraulic actuator to control a portion of a fixed-length link 103. The two parts could could each include a portion of the rotating drive shaft 111. The portions of the rotating drive shaft 111 w'ould then be coupled to one another (e.g. slip fit and keyed) and run axially through the fixed-length link 103 to transmit rotational power between the two parts.

From the foregoing, it can be seen that the present invention accomplishes at least ail of the stated objectives.

?? LIST OF REFERENCE NUMREALS

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

5 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 and side-shift

lu 101 base

102 platform

103 fixed-length link

104 first lower variable-length link

105 second lower variable-length link

IS 106 third lower variable-length link

107 first upper variable-length link

108 second upper variable-length link

109 third upper variable-length link

110 base coupling plate

20 I l l rotating drive (preferably solid) shaft

112 platform coupling plate

113 longitudinal axis

114 base origin / base center

115 platform origin / platform center

25 116 platform link anchor plane

117 base link anchor plane

118 base reference framework

119 platform reference framework

120 pivotal connection (e.g. spherical joint)

121 output power transmission device

122 input power transmission device

123 intelligent control 124 input

125 algorithm

126 output

127 sensor

128 database

129 umbrella system

130 agricultural implement system

131 circular slot centered on 114 constrained to the surface of the fixed-length link end

132 spherical -shaped revolved extrusion

133 differential orientation of input and output thrust vectors

The present disclosure is not to be limited to the particular embodiments described herein. The foll owing claims set forth a number of the embodiments of the present disclosure with greater particularity.