| 摘要 |
The method is characterised in that the position of a point (B) is determined according to preset coordinates (x, y and z) in the orthogonal coordinate system (XYZ) by positioning a base point (Bo), which takes place by the use of only the polar coordinates alpha , beta and gamma , and during the positioning the base point (Bo) is displaced about the centre (O) in accordance with the said angles alpha , beta and gamma . The apparatus for carrying out this method contains a fixed supporting body (22) and a mechanical drive arm which is connected to the supporting body (22) via an epicyclic gear system which includes a planetary gear (24) and a web (25) which has a rotary spindle (26) fastened to the housing (27) of the epicyclic gear system. Furthermore, according to the invention, the apparatus contains four-bar parallelograms rigidly connected to one another, the rotary spindle (26) of the web (25) passing through the centre (O) of the orthogonal coordinate system (XYZ) and being fastened in an articulated manner in the fixed supporting body (22), while a pin (36) is rigidly fastened to the planetary gear (24), which pin (36) is connected in an articulated manner to the arm and ensures the movement of the same in the plane where the point (Bo) to be positioned is located, as well as a spindle (38) which passes through the centre (O) of the orthogonal coordinate system (XYZ) perpendicularly to the rotary spindle (26) of the web (25) and to which the housing (27) of the epicyclic gear system is rigidly attached and which is connected in an articulated manner to the fixed supporting body (22).
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