ACTIVE MANIPULATOR

摘要

An active manipulator, a passive rotational joint, and an active prismatic joint. The manipulator comprises a mobile platform; a base platform; at least three active limbs coupled between the mobile platform and the base platform such that the mobile platform is moveable in at least one translational and two rotational directions under the control of the active limbs; each active limb comprising: an active prismatic joint moveable in said one translational direction; a passive rotational joint for accommodating rotational movement of the mobile platform in said two rotational directions.