PARALLEL KINEMATIC STRUCTURE

摘要

A parallel kinematic structure comprises at least two kinematic chains (10) being functionally arranged in parallel. Each of the two kinematic chains has, at a movable end thereof, at least one degree of freedom, and comprising a passive anti-planar joint arrangement (14) having a translational degree of freedom and two rotational degrees of freedom. Each anti-planar joint arrangement has an input section (24) and an output section. At least one of the kinematic chains comprises a planar joint arrangement (12) having at least one of at least one translational degree of freedom and a rotational degree of freedom, the planar joint arrangement having an output section (22). Further, the planar joint arrangement is adapted for active movements in at least one of its degrees of freedom. The input section (24) of the anti-planar joint arrangement (14) and the output section (22) of the respective planar joint arrangement (12) are coupled. The parallel kinematic structure further comprises a movable end-effector (6) section coupled with the output sections of the anti-planar joint arrangements.