Parallel Manipulator with Spring-Damper for Restraining Vibration

摘要

is an object of the present invention according to a parallel robot having the arms made of a parallelogram shape, to drive the arm time to allow suppression of unwanted vibrations and to effectively move the spring - to provide a parallel robot having a damper mechanism The present invention of a spring-damper mechanism is a parallel robot having a base (110); Platform (120); Three gudongpal 130; In the parallel robot 100 comprises a, the gudongpal 130 is connected in series with the first arm 131 and second arm jidoe made of 132, that is not associated with the second arm 132, the end of the first arm 131 is coupled to the base 110, the end of the first arm 131 and the second arm that is not associated with 132 is fixed to the platform 120, the first first arm 131 is arranged to be included in a plane defined by the base 110 is driven so that a variable length along the extending direction of the first arm 131, the second arm 132 to each other being formed and spaced apart to achieve a parallelogram (parallelogram) shape made up of a pair of links (132a) are arranged in parallel, the pair of the link (132a) on each of the front direction and rear direction of the spring parallelogram formed by the ( 133a) and the pair consisting of the damper spring (133b) -. damper set (133) is characterized in that the a ;