FAMILY OF PARALLEL ROBOTS WITH SIX DEGREES OF MOBILITY

摘要

The invention relates to a family of parallel robots with six degrees of mobility which perform the positioning and orientation in the Cartesian space. According to the invention, the family consists of three kinematic chains linking a fixed platform (13) and a mobile platform (20) by means of some horizontal arms (17, 18 and 19), each kinematic chain having a rotary motor (1) which rotates a key shaft (7) on which there is fixed a horizontal arm (14) which rotates simultaneously with the key shaft (7) and a linear motor (4) also acting upon the horizontal arm (14) and moving on a rolling track (10), the linear motor having a sleeve in which the smooth horizontal arm (14) is also placed, thereby allowing the shaft (7) to rotate irrespective of the linear motor (4), between the horizontal arms (14 and 17) there being placed a passive rotary coupling, and between the horizontal arm (17) and the mobile platform (20) there being placed a spherical coupling.