| 摘要 |
A known movable arm for holding and manipulating grippers or equipment consists of a series of interconnected elements of the same type, which are interconnected, on the one hand, by a ball joint resistant to tension and compression and, on the other hand, by two linear motors, which likewise engage on the neighbouring elements in a spatially articulated manner and by means of which the neighbouring elements can be polydirectionally pivoted about the ball joint. To construct such an arm to be more stable and to be stiff against torsion, the invention proposes that the elements are in each case constructed as tetrahedrons (1), of which in each case two corners are arranged one behind the other in the longitudinal direction of the arm and are interconnected in a polydirectionally articulated manner and to be stiff against torsion in the longitudinal direction of the arm by joint pins, in particular by universal joints (2), whereas the linear motors (3) engage on the other two corners of the tetrahedrons (1). The arm according to the invention can be used as a manipulator arm for excavators and hoists or as a robot arm. <IMAGE>
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