| 摘要 |
<p>The invention relates to a manipulator for an ultra-high-vacuum chamber, comprising an annular proximal base (1a) that can be securely anchored around an access opening (2a) of a tank (2) of the ultra-high-vacuum chamber, a distal base (1b) connected to the proximal base (1a) by means of a connecting section element (3) containing an inner space (3a) communicating with the ultra-high-vacuum chamber via the access opening (2a), a sample-carrying column (4) attached to the distal base (1b), that passes through the inner space (3a) before entering the ultra-high-vacuum chamber, and a movement system for moving the distal base (1b) in relation to the proximal base, wherein the movement system comprises six actuators (5), each one actuated by respective electric motors (6) radially arranged around the connecting section element (3) and connected to the proximal base (1a) in an articulated manner by means of respective proximal ball-and-socket joints (8), and connected to the distal base (1b) in an articulated manner by means of respective distal ball-and-socket joints (8), and the connecting section element (3) comprises a connecting section comprising convolutions.</p> |
