Balance actuating element for use in industrial robot system for e.g. positioning object, has joint arrangement deflectable by actuator, and movement unit deflectable in spatial directions due to coupling of joint assembly

摘要

The element (1) has a movement unit (2) translatory movable in spatial directions (X, Y). A solid joint assembly (4) includes a solid joint arrangement (4a) forming a lever (H1), and is mechanically coupled to the movement unit. Another solid joint assembly (5) includes a solid joint arrangement (5a), and is mechanically coupled to the movement unit and/or the former joint assembly. The joint arrangement of the latter joint assembly is deflectable by an actuator, and the movement unit is translatory deflectable in one of spatial directions due to coupling of the latter joint assembly. The actuator is formed as a piezoactuator. Independent claims are also included for the following: (1) a device for positioning an object and/or for machining a workpiece (2) a method for executing translatory balance movements in spatial directions.