| 摘要 |
<p>Manipulator (1) comprising a fixed base and a movable platform (2), wherein there are four motor-driven chains (3, 4, 5, 6) of articulated links (3', 3", 4', 4", 5', 5", 6', 6") that connect the base to the movable platform, wherein each chain has two links, and wherein the platform is movable in a plane with a predefined orientation in said plane and that in every position of the platform in the plane, said platform divides the plane in a left portion that is located left of the platform and in a right portion that is located right of the platform, and that there are two motor-driven chains (3, 4) in the said left portion and two motor-driven chains (5, 6) in the said right portion, wherein the chains in the left portion comprise upper links (3', 3") and lower links (4', 4") that are in every position of the platform parallel in pairs, and wherein the chains in the right portion comprise upper links (5', 5") and lower links (6', 6") that are in every position of the platform parallel in pairs.</p> |
