| 摘要 |
The hybrid robot with five degrees of freedom, comprising a base, links connected with joints and a gripper is characterized according to the invention in that it comprises two planar mechanisms ( A and B ), which are perpendicularly oriented in space, so that when the first planar mechanism ( A ) is in a horizontal plane then the second planar mechanism ( B ) is in a vertical plane and the first planar mechanism (A) comprises two prismatic joints, the first prismatic joint ( 1 ) and the second prismatic joint ( 2 ), running on guides, the first guide ( I ) and the second guide ( II ), and two revolute joints, the first revolute joint ( a ) and the second revolute joint ( b ) connected through the third guide ( III ), wherein the first revolute joint ( a ) is connected to the third guide ( III ) through the third prismatic joint ( 3 ), while the guides, the first guide (I) and second guide ( II ) form the base of the robot, whereas the second planar mechanism ( B ) enclose three prismatic joints ( 4, 5 , 6 ) running on the third guide ( III ), wherein these prismatic joints ( 4 , 5 , 6 ) are connected through the link system (IV ) connected by the revolute joints ( c ). |
