Parallel robot for use as e.g. haptic device, has passive pivot connectors connecting mobile structure of sub-assembly with movable part of three actuators of sub-assembly to displace structure of sub-assembly

摘要

The robot has a platform (100) coupled with a base (1) by a displacing unit. A first passive connection element (4.1) comprises a passive prismatic connector that connects a sub-assembly, where a longitudinal axis of the passive prismatic connector is arranged such that the longitudinal axis of the first element does not coincide with a longitudinal axis of another passive connection element (4.2). Passive pivot connectors connect a mobile structure (5) of the sub-assembly with a movable part (3) of actuators (2, 22, 33) of the sub-assembly to displace the structure of the sub-assembly.