Manipulator device with a parallel structure for moving and orienting an object in a cylindrical workspace

摘要

Each arm (A,B) is mounted on a pivoting section (8). The pivoting section is attached to a motor drive (V) which is housed in a circular slot (L) in a base plate (2). The two circular slots are mirror images. The motors drive the arms around the circular slots. The manipulator (1) is mounted on the other end of the arms with three dimensional pivoting mechanisms. A circular pillar (2a) is raised up from the centre of the base plate and supports a third arm (C) stabilising the manipulator in the third plane. Thus the manipulator can be placed anywhere in a cylindrical section, allowing information retrieval.