Six degree freedom parallel robot for moving and orienting object in e.g. medical field, has actuators comprising fixed parts connected to base by connectors with three degrees of connection and two rotational degrees of freedom

摘要

The robot has a base (1), and a platform (100) coupled with the base by a displacing unit, where the displacing unit comprises four sub-assemblies acting in parallel from the base on the platform. Actuators comprise fixed parts (2.1, 2.2) that are connected to the base by corresponding passive connectors (5.1, 5.2) equipped with three translational degrees of connection and two rotational degrees of freedom. The subassemblies are laid on sides of a quadrilateral that is in form of square, parallelogram, rectangle and rhombus.