| 摘要 |
A parallel structure manipulator device for displacing an object in a cylindrical work space about a predetermined axis (X) includes at least three drive mechanisms (A, B, C) interposed between a base (2) and a moving element (1). Two of the mechanisms (A, B) each include: mover (V) movable along a circular path (L) in a transverse plane perpendicular to the axis (X); a connecting rod (7) extending between the mover and the element (1) and connected thereto by a hinge (8) capable of two-directional rotation; and an attitude transmission member (9) associated with the connecting rod for maintaining the element (1) parallel to the transverse plane. The mechanisms (A, B) act together on the element (1) to define its angular position about the axis (X) and its distance (D) from a notional axis (W) passing through those ends of the connecting rods that are connected to the mover. A third mechanism (C) is free to rotate relative to the base about an axis parallel to the axis (X) and away from the transverse plane. The third mechanism is supported by the base about a pivot axis (H) perpendicular to the axis (X). The third mechanism is thus functionally active to adjust the distance between the element (1) and the pivot axis (H), and to maintain the element (1) pointing towards the axis (X).
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