A mechanism which constrains the spatial location of a working or a focal point of a tool (103), has a manipulator (101) and a remote centre mechanism (102) mounted thereon. The manipulator (101) provides at least one degree of freedom for positioning the remote centre mechanism (102) which itself provides at least a further degree of freedom for positioning a tool holder suitable for holding the tool (103) which is to be constrained in operation with respect to a remote centre point. The orientation of the tool holder is adjustable whilst still maintaining the position of the remote centre point fixed with respect to the manipulator (101).
申请公布号
WO2007045810(A2)
申请公布日期
2007.04.26
申请号
WO2006GB03107
申请日期
2006.08.18
申请人
THE ACROBOT COMPANY LIMITED;RODRIGUEZ Y BAENA, FERDINANDO, MARIA