| 摘要 |
Three-axled spatial prallel mechanism, machine tool and industrial robot that include such a mechanism has an advantage such as, a large and regularly available working space elongated in the direction of one axle, without singularity, great hardness and applicability of the machine tool and robot. Three-axled spatial parallel mechanism with parallel cinematics comprises an unmovable base (2), whereto are firmly tied at least two parallel translatory guides (7,8), as well as a platform (1) for setting a working organ i.e. end effector. Mechanism includes two crossed links of prallelogram (3,4), where the parallelograms (3,4) from one of its sides in different points are coupled to the movable platform (1) by a hinged coupling, which are at the other endings thereof by a hinged coupling tied to independant slidings (5,6). Slidings (5,6) with one common translatory guide (7) make up two independent reinforced and controlled translatory joints (11) coupled to the movable platform (1) while at the other ending thereof a slider (12), by means of the hinged coupling, is coupled, that by its guide (8) on the base (2) that make the third reinforced and controlled joint û axle.
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