| 摘要 |
The invention relates to a robot family with four mobility degrees with parallel structure, which performs the positioning of a platform or of a final effector in a three-dimensional space and the orientation thereof about the axis of a final rotation coupling. According to the invention, the family consists of two identical kinematic chains on three levels and a structure consisting of four active translation couplings (), two couplings () fixed on some perpendicular axes and two other couplings () placed on the third level of the two kinematic chains, two elements () connected through a universal coupling (), a rotation coupling being placed between two other elements () with the rotation axis parallel to that of another coupling (), a final effector () being positioned in a Cartesian space, the orientation thereof being performed about the axis of a rotation coupling (). |
