| 摘要 |
The invention involves a method for control of a spherical motion of body (1) connected to frame (5) through spherical joint (2) arranged on a shank connecting body (1) with frame (5), where the shank is sectional and spherical joint (2) is arranged between the first part (7) of the shank, which is firmly fixed to frame (5), and the second part (8) of the shank, which is firmly fixed to body (1), and by means of actuating arms (3) with linear actuators (4) arranged on frame (5), whereas the number of parallel arms (3) with linear actuators (4) is four and are connected to body (1) and to trolleys (4) through spherical joints (10) and (11), lies in that firstly body (1) with tool (6) is through a move of trolleys (4) turned to the required direction of the axis of tool (6) determined by the prescribed azimuth and elevation, secondly body (1) with tool (6) is through a move of trolleys (4) turned about the axis of tool (6) so that it reduces the angle between the axis of arms (3), determined by the join of respective spherical joints (10) and (11), and a plane determined by the centre of spherical joint (2) and the axis of the respective linear guide of trolley (4) on frame (5), thirdly body (1) with tool (6) is through a move of trolleys (4) turned also about the axis of tool (6) by another a angle so that it increases a distance from singular positions and prevents a collision of arms (3) at the same time. |
