A DEVICE FOR CONTROL OF A SPHERICAL MOTION OF A BODY

摘要

A device for control of a spherical motion of a body (1) connected to a frame (5) through a spherical joint (2) arranged on a shank connecting the body (1) with the frame (5), where the shank is sectional and the spherical joint (2) with at least two rotational degrees of freedom is arranged between the first part (7) of the shank, which is firmly fixed to the frame (5), and the second part (8) of the shank, which is firmly fixed to the body (1), and by means of actuating arms (3) with linear actuators (4) arranged on the frame (5), whereas the number of parallel arms (3) with linear actuators (4) is three and at least one arm (3) is connected to the linear actuator (4) through a rotational joint (6), whereas other arm/s (3) is/are connected to the linear actuator/s (4) through a spherical joint (11).