| 摘要 |
The current invention is about a parallel robot for pick-and-place applications. This robot is made of four kinematics chains acting in parallel on an articulated traveling plate (2), and has 4 degrees of freedom (Tx, Ty, Tz and Rz, where z represents the vertical axis). Each chain is the serial arrangement of an actuator (3i), a solid element called "arm" (5i), and an articulated element called "parallelogram" (9i). Each parallelogram is made of a pair of bars (6i1, 6i2) and a pair of spacers (8i1, 8i2) connected using spherical joint. Each kinematic chain connects the frame to the traveling plate. The traveling plate is made of two main parts (21, 22) guided in translation relatively along z, each part being connected to two kinematic chains. A motion transformation device (23, 24) transforms the relative distance between the two parts into the rotation of a third component, namely the end-effector (4). |
