Parallel kinematic structure

摘要

A parallel kinematic structure comprises at least two kinematic chains being functionally arranged in parallel. Each of the two kinematic chains has, at a moveable end thereof, at least one degree of freedom, and comprising a passive anti-planar joint arrangement having a translational degree of freedom and two rotational degrees of freedom. Each anti-planar joint arrangement has an input section and an output section. At least one of the kinematic chains comprises a planar joint arrangement having at least one of at least one translational degree of freedom and a rotational degree of freedom, the planar joint arrangement having an output section. Further, the planar joint arrangement is adapted for active movements in at least one of its degrees of freedom. The input section of the anti-planar joint arrangement and the output section of the respective planar joint arrangement are coupled. The parallel kinematic structure further comprises a moveable end-effector section coupled with the output sections of the anti-planar joint arrangements.

主权项

1. A parallel kinematic structure comprising:
at least two kinematic chains being functionally arranged in parallel; each of the at least two kinematic chains
having, at a moveable end thereof, at least one degree of freedom, andcomprising a passive anti-planar joint arrangement having a translational degree of freedom and two rotational degrees of freedom,each anti-planar joint arrangement having an input section and an output section; at least one of the kinematic chains comprising a planar joint arrangement
having at least one translational degree of freedom and, optionally, at least one rotational degree of freedom, andthe planar joint arrangement having an output section, whereinthe input section of the anti-planar joint arrangement and the output section of the respective planar joint arrangement are coupled; and a moveable end-effector section coupled with the output sections of the anti-planar joint arrangements,wherein
the planar joint arrangement includes at least one parallelogram arrangement providing the at least one translational degree of freedom of the planar joint arrangement.