Parallel-kinematical machine with gimbal holders

摘要

A parallel-kinematical machine (20) that includes three setting devices (24.1, 24.2, 24.3) each of which can be lengthened and shortened individually, wherein each setting device (24.1, 24.2, 24.3) is connected to a first, a second and a third respective inner gimbal ring (23.1, 23.2, 23.3) of universal gimbal joints (UGJ) and that each inner gimbal ring (23.1, 23.2, 23.3) is mounted in bearings (25, 26, 27) for rotation in gimbal holders (21, 22) which are rotationally mounted in outer gimbal bearings (28, 29, 39) in an outer mounting (290) wherein the first inner gimbal ring (23.1) and the third inner gimbal ring (23.3) are mounted for rotation in a common outer gimbal holder (21) which is mounted for rotation about a common gimbal axis (32, 52) and in that the second inner gimbal ring (23.2) is mounted for rotation in a single gimbal holder (22) which is mounted in two opposite bearings for rotation about a second gimbal axis (31, 51) which is not aligned with said common gimbal axis (32, 52).

主权项

1. A parallel-kinematical machine comprising:
three setting devices, each of which can be lengthened and shortened individually to move a positioning head, which is attached to one end of each of the first, second and third setting devices, within a working range, each setting device being connected to a first, a second or a third respective inner gimbal ring of universal gimbal joints (UGJ), each inner gimbal ring being mounted in bearings for rotation in gimbal holders, which are rotationally mounted in outer gimbal bearings in an outer mounting, the first inner gimbal ring and the third inner gimbal ring being mounted for rotation in a common outer gimbal holder, which is mounted for rotation about a common gimbal axis, the second inner gimbal ring being mounted for rotation in a single gimbal holder, which is mounted in two opposite bearings for rotation about a second gimbal axis, which is not aligned with the common gimbal axis, and the common gimbal axis about which the common outer gimbal holder being either parallel or perpendicular to the second gimbal axis about which the single gimbal holder rotates.