| 摘要 |
<p>PURPOSE: A parallel robot mechanism with a cylinder type of a large working area is provided to reduce the inertia and weight of a moving unit since the first connecting joint axis of a fixed base and an arm is arranged on the same line. CONSTITUTION: A parallel robot mechanism with a cylinder type of a large working area comprises a fixed base(10), a rotating driving unit(20), first and second horizontal arm units(30,40), a vertical arm(50), a movable platform(60), an extra driving unit(70), and a robot end(80). The first and second rotating actuators(21,22) and extra rotating actuator(23) or manual rotating joint of the rotating driving unit are rotatably installed on the upper central part of the fixed base in multi stages. The first and second horizontal arm units are connected to the first and second rotating actuators of the rotating driving unit through driving links(31,41).</p> |
