Parallel robot for use as e.g. wrist type serial robot, has actuator whose movable part comprises position combination that is independent of action exerted by subassemblies of displacing unit on platform

摘要

The robot has actuators (2, 22) whose fixed part is connected to a base (1) by a passive connector (38). A mobile structure (25) is connected to a platform (100). A combination of given position and orientation of a mast (40) of a subassembly, a position of a passive joint (50) connecting an end of the mast to the platform along longitudinal axis of the mast is determined by the combination of position of a movable part (23) of the actuators of an subassembly independent of an action exerted by one of other subassemblies of a displacing unit on the platform.