PARALLEL MANIPULATOR HAVING BACKLASH-FREE GEARINGS

摘要

A delta robot comprises motor/gearing units (5), to each an arm (2) is assigned and which are each mounted on one side of a triangle. Each motor/gearing unit (5) comprises a gearing (52) whose at least one gearing step is tensioned in a rotationally symmetrical manner. The gearing (52) is backlash-free over the entire range of motion of the gearing (52) due to a connection of gearing components with material fit or with form fit. This delta robot makes it possible to optimize practically all aspects essential to the delta robot, particularly the rigidity, control behavior, space requirements, speed and positioning accuracy.