Robotic manipulators and rotary linear actuators for use in such manipulators.

摘要

A robotic manipulator for supporting a too l or workpiece (10) comprises at least one rotary linear actuator (16) supported on a base (14) and providing for controlled movement of a manipulator link (18) with two degrees of freedom. The actuator (16) comprises a splined rod (22) which is rotatable about its axis by a rotary drive (26), and on which one end of the link (18) is mounted so that it is constrained to rotate with the rod but is free to slide axially along the rod under the action of a piston (34) and cylinder (36). Various combinations of actuator (16) and link assemblies (18) can provide the tool or workpiece (10) with up to six degrees of freedom.