| 摘要 |
<p>The invention relates to a control unit comprising three similar branches (2), between a fixed base (1) and a control grip (4), each with three segments (5, 6, 7) between the base and the platform for the grip, articulated by means of a pivot (8), two rotating joints (9 and 10) and a ball joint (11). Said control unit with six degrees of freedom comprises return motors acting on the first and second joints (8 and 9), of which the first is fixed to the base (1) and the second is fixed to the first segment (5) such that the first is immobile and the other moves but a little. The third joint (10) is free. The resulting structure is simple and light, not requiring a parallelogram and the kinematic control features are significantly reduced.</p> |
