| 摘要 |
The invention is directed to a device for transmitting a movement having a parallel kinematics transmission structure (3) providing three translational degrees a freedom, said structure comprising one base member (1), one moveable member (2), at least one rotative actuator (30) arranged on the base member (1), parallel kinematics chains coupling the base member to the moveable member, each chain comprising a pivoting control arm (10), wherein the rotary motion of the at least one rotative actuator (30) is transmitted to a respective pivoting control arm (10) so that any translational movement of the moveable member is transmitted into a rotational movement of the control arms or vice versa, and wherein the at least one rotative actuator (30) is arranged such that its axis (31) is substantially perpendicular to the rotation axis of the control arms (10). The parallel kinematics transmission structure comprises three parallel kinematics chains, each chain comprising a pivoting control arm and a pair of parallel linking bars hingedly mounted by two rotational degrees of freedom joints at one end to an extremity of the control arm and at the other end to the moveable member, thus forming a delta type arrangement, wherein each chain is provided with a respective rotative actuator and wherein the rotative actuators are arranged such that their axis are substantially parallel to each other. The movements between the rotative actuators and the control arms are transmitted by cable members (51). <IMAGE> |
