Hybrid robot on the basis of three linear actuators with intersecting axles, a parallelism maintainer, a multifunctional pivotal link, a multi-axle pivotal link and a spatial orientation unit

摘要

The hybrid robot has a multifunctional space joint component (3), parallelism holder (5) and a multi-axis space joint component that are used simultaneously. Three linear actuators (2) are connected with a tool spatial orientation unit. The multifunctional space joint component is provided with a ball calotte (7) and/or cone calotte. The parallelism holder is provided for holding the lower and upper coupling plates (13,14) with respect to a stationary base plate (32). The coupling rods are provided with universal joint portions.