| 摘要 |
A manipulator (10) for receiving and displacing an object, comprising a moving portion (11), adapted for receiving the object. Three articulated support legs (A, B, C) each extend between the moving portion (11) and a ground (12) for supporting the moving portion (11). The articulated support legs (A, B, C) are connected to the ground (12) by a first joint member (JA1, JB1, JC1) and to the moving portion (11) by a second joint member (JA3, JB3, JC3). The first joint member (JA1, JB1, JC1) and the second joint member (JA3, JB3, JC3) in the articulated support legs (A, B, C) are interconnected by a third joint member (JA2, JB2, JC2). The articulated support legs (A, B, C) each have at least one rotational degree of freedom and have constraints in the joint members operable to restrict movement of the moving portion (11) to three translational degrees of freedom and to constrain a relationship between linear displacement of the first joint members (JA1, JB1, JC1) and output of the moving portion (11) to be linear. Three linear actuators (13) are operatively connected each to a different one of the first joint members (JA1, JB1, JC1) for controlling the movement of the moving portion (11) in any of the three translational degrees of freedom. With each actuator (13) controlling exclusively one of the three translational degrees of freedom of the moving portion (11), i.e., the movement of the moving portion (11) along one of three orthogonal directions, the manipulator (10) is said to be decoupled. With the relationship being equal for a linear displacement of any one of the first joint members (JA1, JB1, JC1) and a displacement output of the moving portion (11), the decoupled manipulator (10) is said to be isotropic. |
