Parallel robot for use as e.g. wrist type serial robot, has passive articulation space connecting end of mast of sub assembly to platform and determined by combination of position of moving part of three actuators of sub assembly

摘要

The robot has a platform (100) coupled with a base (1) by a motion setting unit. An end of a mast (40) is connected to the platform by a passive articulation space (50). Another end of the mast is integrated to a mobile structure (5). The mobile structure is connected to the platform by a kinematic chain formed by the mast. The passive articulation space connects the former end of the mast of a sub assembly to the platform, and is determined by combination of position of a moving part (3) of three actuators (2) of the sub assembly.