PARALLEL ROBOT WITH FOUR DEGREES OF FREEDOM, AND PARALLEL LINK WORKING MACHINE

摘要

PROBLEM TO BE SOLVED: To provide a parallel robot with four degrees of freedom, and a parallel link working machine improving controllability and machining accuracy and reducing an angle of inclination of a spindle. SOLUTION: A traveling plate 4 is composed of: a first plate 7; a second plate 8; a first linear motion joint 9 to which the first plate 7 and second plate 8 are connected in a relatively parallel displaceable manner; a first rotary bearing 10 disposed at the first plate 7 rotatably around a Y-axis; a second rotary bearing 11 disposed at the second plate 8 rotatably around the Y-axis; and a second linear motion joint 12 comprising a second fixed shaft 14 fixed to the first rotary bearing 10 and the spindle 5, and a second linear motion wheel 15 fixed to the second rotary bearing 11. The spindle 5 swings around the Y-axis by the relative parallel displacement of the first plate 7 and second plate 8. COPYRIGHT: (C)2005,JPO&NCIPI