Parallel robot for use as e.g. haptic device, has passive articulation whose position is determined by combination of position of moving part of actuators and independent from action exerted by subassembly of motion setting unit on platform

摘要

The robot has an actuator (22) whose fixed part is connected to a base (1) by a passive connection endow with three degrees of relationship including three degrees of relationship in translation. A position of a passive articulation (50) in a space connects an end of a mast (40) of a subassembly to a platform (100). The position of the passive articulation is determined by the combination of position of a moving part (3) of the actuator of the sub assembly independent from an action exerted by another subassembly of a motion setting unit on the platform.