| 摘要 |
In the present invention, there is disclosed a device for controlling spherical motion of a body (1) connected with a frame (5) by means of a spherical joint (2) arranged on a shank (9, 10) connecting the body (1) with the frame (5) and further connected through the mediation of actuating arms (3) with drives (4, 6, 7, 8, 11) wherein the shank (9, 10) is divided into a stationary and mobile parts and the spherical joint (2) is arranged between the stationary part (9) of the shank, which is firmly fixed to the frame (5) and the second part (10) of the shank, which is firmly fixed to the moved body (1). The number of parallel arms (3) with drives (4, 6, 7, 8, 11) is redundant, i.e. higher than the number of freedom of the body (1Q) relative to the frame (5) that is in the given case three-rotation about three axes. In order to increase the accuracy of both the self-calibration itself and a follow-up positioning of the body (1) in the work area (for instance in a work area of a machine tool or manipulator tilting head for which the device is used) and to achieve a large range of the body's (1) turning, the number of parallel arms (3) with drives (4, 6, 7, 8, 11) is preferably at least five and the length of the stationary part of the shank (9) connected to the frame (5) is longer than the distance of the body (1) edge from the point of connection of the shank mobile part (10) to the body (1). |
