| 摘要 |
PROBLEM TO BE SOLVED: To provide a more practical parallel manipulator by six practical connecting rods. SOLUTION: Three sets of movement control structures 20 having a universal joint yoke structure 27, two connecting rods 26, two sets of transmission joint yoke structures 25, and two sets of sliding bases 24 is installed on a base plate 50 so as to realize a relationship of three sides of an equilateral triangle. AN upper part of each movement control device 20 is pivotably provided on an end plate 60 by the universal joint yoke structure 27. One end of each of the two connecting rods 26 is pivotably provided on the universal joint yoke structure 27 to allow motions in three directions of motion with respect to the end plate 60. The other end of each of the two connecting rods 26 is pivotably provided on the transmission joint yoke structure 25 to allow the motion in two directions of motion. The transmission joint yoke structure 25 is pivotably provided on the sliding base 24 to allow the motion in one direction of motion. The movement and the angle of the end plate 60 are changed by moving each sliding base 24 straight. COPYRIGHT: (C)2004,JPO |
