MULTI-LEG PARALLEL MECHANISM WITH SPHERICAL MOTION.

摘要

The present disclosure is related to a parallel architecture of at least four legs, the legs are elements that join a base with a platform. Of the legs of the mechanism, at least three of them are actuated, that is, they contain some devices that allows transforming some energy sources into movement; while one leg is passive, the configuration of the actuated legs is a universal joint that connects to the base followed by a cylindrical base that joins a second universal joint that connects the same to the platform whereas the configuration of the passive one, is by means of a rigid body that connects the base with a spherical union that is in turn united to the platform, this configuration allows to make rotations in three distinct and orthogonal axes, what is commonly called, spherical movement. Based on the description of the legs, different configurations can be made by placing the legs in different positions, always allowing the spherical movement of the platform around the action axis of the spherical union of the passive leg.