MECHANISM WITH SINGULARITY-FREE PARALLEL ARCHITECTURE

摘要

The invention concerns a mechanism with parallel architecture comprising at least three kinematic chains (13a, 13b, 13c) interposed between a stand (11) and a movable member (12), including three kinematic chains (13a, 13b, 13c) each comprising a base arm hinged to the stand (11), and a base actuator (16a, 16b, 6c) controlling the base angle of the base arm. The movements of each actuator are controlled to move the movable member (12) relative to the stand (11). The base ends (45a, 45b, 45c) and the movable member ends (46a, 46b, 46c) are arranged such that a minimum theoretical sphere, referred to as the base sphere, containing the base ends, has a radius (r1) different to the radius (r2) of a minimum theoretical sphere, referred to as the movable member sphere, containing the movable member ends.