ROBOT WITH 6-DOF PARALLEL MULIT-JOINT

摘要

The robot enables a real time calculation, has an active isotropic work space and no interference among the joints, and has small variation of a load according to the change of the robot shape. It comprises an upper support(1) attaching an arbitrary spacial structure; a lower support(2) fixed at a base; a linear vertical active joint(6) having a planar motion area; a linear horizontal active joint(5) horizontally fixed at the linear vertical active joint(6); a linear passive joint(3) connected to the upper support(1); a ball-socket joint(4) connected to a shaft(9); a motor(10) driving the joints; a controller(8).