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 second sub-assembly on platform

摘要

The robot has a first passive connection element (4.1) comprising a passive prismatic connector with a longitudinal axis that is arranged such that the longitudinal axis of the first element does not coincide with a longitudinal axis of a second passive connection element (4.2). A position of a passive joint (50) in a space connecting an end of a mast (40) of a first sub-assembly with a platform (100) is determined independent of an action exerted by a second sub-assembly of a displacing unit on the platform by combination of a position of a movable part (3) of three actuators (2, 22, 33).