| 摘要 |
The disclosure relates to a manipulator device for realising, in an effector (6), on the one hand a motion pattern (2) with a relatively long, substantially horizontal and rectilinear trajectory (3), and on the other hand a pivoting movement in the effector, where the pivot axis is substantially horizontal and at right angles to the long trajectory. The trajectory (3) has, at each of its two ends, a relatively short, substantially vertical and rectilinear trajectory (4, 5). The manipulator device essentially comprises a linkage system with the effector (6) in a free end thereof, which describes the motion pattern (2). The linkage arm system is drivable under the action of a drive arm (8) pivotally secured (9) in the carrier device (1), an adjustment arm (16) being disposed approximately parallel with the drive arm and, with its one end, pivotally (9) secured in the carrier device a distance from the pivotal anchorage of the drive arm in the carrier device. The pivotal (29) anchorage of the adjustment arm (16) in the carrier device (1) is displaceable in relation to the pivotal (9) anchorage of the drive arm (8) in the carrier device. |
