Parallel robot of two degrees of freedom with two chains with a bending stiffness that is maximized

摘要

The present invention is composed of two chains that connect the intended platform for movement of the base relative to the base, a form of parallel robot with only two degrees of freedom, the platform, the direction x, y , z orthogonal spatial mutually (x, y, z) plane (x, z) of the inside, which is movable relative to the base, each chain has a bent portion, the bent portion is connected to the proximal sub-chains to the base on which it is connected, connects the distal Fukukusari itself connected to the platform, the proximal Fukukusari is a plan (x, z ) in which is intended to be the linear drive a bend in, in the parallel robot, at least one distal Fukukusari two chains is provided with two rods spaced apart in the direction (y), each the first of the rod The two by connection system configuration from the pivot, said being connected to the bent portion, the two pivot axes of the one connecting system of rods, each rod other connection system having axes perpendicular to each other and it forms a non-zero angle and two pivot axes, a second end of each rod, by means of two connection system configuration from the pivot having an axis perpendicular to each other, are connected to the platform, the rod two pivot axis of one of the connection system, each forms a non-zero angle and two pivot axis of the rod other connection system relates to the parallel robot, characterized in that. .FIELD 1