FOUR-FREEDOM DEGREE PARALLEL ROBOT

摘要

PROBLEM TO BE SOLVED: To provide a four-freedom degree parallel robot allowing a traveling plate to be moved in four-freedom degree at high speeds and accelerations and capable of being positioned precisely with high rigidity. SOLUTION: A four-freedom degree parallel robot comprises four actuators 2 fixed to a base 1, four sets of parallel links 3 having an upper end connected through a universal joint 33 to the tip of an arm 23 of each actuator 2, and a traveling plate 4 having four corners connected through a universal joint 33 to the lower end of each parallel link 3. Each actuator 2 is controlled so as to move major members 41 of the traveling plate 4 to be moved in four degrees of freedom by a parallel movement in all directions and a specified rotating movement about uniaxis. Because only an axial force is applied to a rod 31 forming the parallel link 3, the traveling plate 4 can be positioned precisely at high speeds and with high rigidity.