Positioning machine e.g. handling robot for transporting objects e.g. airplane components, has moving units that are mechanically coupled with end effector in four degrees of freedom

摘要

The positioning machine (10) has an end effector (12), and three moving units (18.1-18.3) that are automatically movable in a plane. The moving units are mechanically coupled with the end effector in four degrees of freedom by moving the moving units. The mecanum wheels (20.1,20.2,20.5,20.6,20.7,20.8) are provided in the moving units, for automatically positioning the moving units in the plane.