DRIVE OF ACCURATE LINEAR DISPLACEMENTS FOR THE MECHANISM OF PARALLEL KINEMATICS

摘要

A drive of accurate linear displacements for mechanism of parallel kinematics comprises a motor, toothed gearing and screw gearing placed in a hollow rod with a nut with possibility of displacement of the rod with respect to the tubular body of the rod. Besides that, in the tubular rod discrete pneumatic- or hydro-drives of quick displacements are installed, at that the engine is installed on a fixed basis, and the toothed gearing is arranged as a gapless clearance-less harmonic reducer input of which is connected to the shaft of the motor, and the output is connected to rotary body of the spherical support of the rod, at that all the links of kinematic circuit have devices for clearance removal and preliminary tension of contacts of the parts in movable joints.