SISTEMA DI ARTICOLAZIONE A PANTOGRAFO PARTICOLARMENTE PER IL BRACCIO DI ROBOT MANIPOLATORI

摘要

A pantograph linkage system for use in a manipulating tool comprises a pair of pantographs linked together in parallel. Each pantograph consists of a pair of arms held in a fixed relative orientation and the two arms comprise components of parallel linkages. A tool holder appropriately mounted on the free end of the arms can then be moved in all three dimensions without changing its spatial orientation. Simple straightline input movements are all that is required to effect movement of the tool holder.