Robot or haptic interface structure with parallel arms

摘要

A structure with six degrees of freedom for a robot or haptic interface including a base, two branches in parallel, and a wrist joint. The branches are installed articulated between the base and the wrist joint, the branches including a shoulder, an arm, and a forearm supporting the wrist joint. The wrist joint includes a connecting segment onto which a handle holder is articulated about a first rotation axis. A handle is articulated in rotation on the handle holder about a second rotation axis, the handle capable of being moved in rotation about the first axis, the second axis, and a third axis, and a mechanism gears down the rotation of the handle holder about at least the first rotation axis relative to rotation of the connecting segment.

主权项

1. A structure with six degrees of freedom for a robot or haptic interface comprising:
a base; a wrist joint comprising a connecting segment onto which a handle holder is articulated about a first rotation axis, a handle articulated in rotation on the handle holder about a second rotation axis, said handle being capable of being moved in rotation about the first axis, the second axis and a third axis; two branches in parallel, said branches being installed articulated at one end on the base and at the other end on the wrist joint, said branches each comprising a shoulder at the base, an arm and a forearm at the wrist joint, the forearm being articulated onto the arm; and a gearing down device which gears down the rotation of said handle holder about at least the first rotation axis relative to rotation of the connecting segment.