PARALLEL KINEMATIC MANIPULATOR FOR LARGE WORKSPACE

摘要

The present invention relates to an industrial robot comprising: a platform (16) arranged for carrying the object, a first arm (7) arranged for influencing the platform in a first movement and comprising a first actuator having a first path (1) and a first carriage (4) linearly movable along the first path, a second arm (8) arranged for influencing the platform in a second movement, comprising a second actuator having a second path (2) and a second carriage (5) linearly movable along the first path, a third arm arranged for influencing the platform in a third movement, and a control unit controlling the movements of the platform. The first and second arm are arranged rotatable in such way that the platform is movable between opposite sides of a second plane (D) passing through and continuously following the first and second carriage The control unit comprises control means adapted to upon command perform a reconfiguration of the platform and the arms of the robot, wherein the reconfiguration comprises moving the platform between opposite sides of the second plane.