A method and a device for change of rigidity of a serial or parallel basic movable mechanism, especially of industrial robots and machining machines

摘要

The invention concerns a method and a device for change of rigidity of a serial or parallel basic movable mechanism, especially industrial robots and machining machines, where the basic movable mechanism is fixed to the frame and the basis of the method is in creation of at least one auxiliary movable mechanism fixed to the frame and equipped with an auxiliary end effector, the basic end effector and the auxiliary end effector are connected to each other using at least one connecting element, the position of the tool fixed to the basic end effector is determined and according to the deviation of the position of the tool fixed to the basic end effector from the required position the action of force, which is needed to act on the basic end effector of the basic movable mechanism with the help of the connecting element for achievement of the required position of the tool, is determined.;The subject matter of the device is in the fact that the basic end effector (2) or the arm (8) of the basic movable mechanism (1) is connected using at least one connecting element (6) to at least one auxiliary end effector (4) of the serial or the parallel auxiliary movable mechanism (4) connected to the frame (16).