Parallel robot for use as e.g. wrist type serial robot, has connector whose longitudinal axis is arranged such that axis does not coincide with longitudinal axis of connector of other element, and provides passive prismatic connection

摘要

The robot has a passive joint (50) whose position is determined by combination of position of a movable part (3) of three actuators (2, 22) of a subassembly and independent of an action exerted by another subassembly of a displacing unit on a platform (100). A passive connection element (4) has a passive prismatic connector (38) connecting the subassembly. A longitudinal axis of the connector is arranged such that the longitudinal axis does not coincide with the longitudinal axis of the connector of other element of the subassembly, and provides a passive prismatic connection.