Parallel robot for use as e.g. haptic device, has passive joint whose position in space is determined by combination of position of movable part of actuators independent of action exerted by sub-assembly on platform

摘要

The robot has a base (1) and a platform (100) coupled with the base by a displacing unit that comprises two subassemblies acting in parallel from the base on the platform. One out of a set of sub assembly comprises actuators (2, 22, 33) is connected with a fixed part that is connected to the base by a passive connector. A position of a passive joint (50) in a space connecting an end of a mast (40) of the sub-assembly with the platform is determined by combination of a position of a movable part (3) of the actuators independent of action exerted by other sub-assembly on the platform.