Hybrid kinematics with six degrees of freedom and procedure

摘要

The present invention relates to the field of positioning and moving objects. In order to present a solution that provides a high-resolution device and a corresponding method that enable six degrees of freedom with a high rotary range of motion, the device having a largely consistently high mechanical rigidity, so that it is also suitable for highly dynamic applications, a device proposed, with a parallel kinematics comprising three linear positioners with three degrees of freedom, a two-dimensional positioning unit and a rotary positioner, wherein the linear positioners of the parallel kinematics are each provided with a joint construction with four degrees of freedom, each joint construction having a thrust joint and / or a linear guide for one linear degree of freedom along a direction of movement and a rotary joint for three rotational degrees of freedom, wherein the joint structures are arranged such that the directions of movement n intersect the linear degrees of freedom at one point and that the directions of movement of the linear degrees of freedom are not parallel or anti-parallel to a positioning direction of the respective linear positioner.