PARALLEL CONTROL ARM WITH TWO BRANCHES

摘要

The invention concerns a robotic arm consisting of two parallel branches (2, 3) formed by a number of reduced segments (5, 6, 7) and linked together through a wrist (4) via a wrist-holder (8) whereof the orientations are maintained substantially constant by drive trains (12 to 16). The working space of said control arm is wide and free of kinematic irregularity except in extreme positions, and provides good decoupling of translational and rotational movements.