Net translation series manipulator robot having a space-saving has been three-degree-of-freedom

摘要

have at least three degrees of freedom, comprise three pivot link, of which two links has orthogonal axes (X1, X2), by one of the first, second, and third link carrier is hinged to the frame, two a further series carrier encompasses effector (8), whereas frame with, comprising connected to the effector (8) on the other hand, a deformable parallelogram in a plane One of the passive unit (4, 6), the carrier including a first and second passive transmission device, each of which is formed (D1, D2) by a double U joint, the first double U joint ( D1) and the second double U joint is connected to the frame is connected to the effector, both of the double U joint is connected between a transfer unit and a deformable parallelogram passive device (4,6) (D1 , D2) and can be restricted to 3 translational degrees of freedom of movement of the effector (8).