A PARALLEL KINEMATICS ROBOT WITH ROTATIONAL DEGREES OF FREEDOM

摘要

A parallel kinematics robot (10) comprises a base (20) and an end effector (30) movable in relation to the base (20). A first actuator (40) is attached to the base (20) and connected to the end effector (30) via a first kinematic chain comprising a first drive arm (50), a first rod (60), a first joint (70) between the first drive arm (50) and the first rod (60), and a second joint (80) between the first rod (60) and the end effector (30). A second actuator (90) is attached to the base (20) and connected to the end effector (30) via a second kinematic chain comprising a second drive arm (100), a second rod (110), a third joint (120) between the second drive arm (100) and the second rod (110), and a fourth joint (130) between the second rod (110) and the end effector (30). A third actuator (140) is attached to the base (20) or to the first drive arm (50), and connected to the end effector (30) via a third kinematic chain comprising a first gear wheel (150) and a second gear wheel (160), the first and second gear wheels (150, 160) being journalled in bearings to the end effector (30) and intermeshing with each other. At least one element of the third kinematic chain constitutes a kinematic pair with at least one element of the first kinematic chain. A kinematic chain responsible for a translational movement of the end effector (30) is thereby utilized as a support structure for a kinematic chain responsible for a rotational movement of the end effector (30).