Parallel robot for use as e.g. haptic device, has displacing unit comprising actuators with fixed part that is connected to base by passive connector of first connection element, where fixed part is integrated with base

摘要

The robot has a platform (100) coupled with a base (1). A first passive connection element (4.1) comprises a passive prismatic connector that connects a sub-assembly, where a longitudinal axis of the passive prismatic connector is arranged such that the longitudinal axis of the first connection element does not coincide with a longitudinal axis of another passive prismatic connector of a second passive connection element (4.2). A fixed part of actuators (2, 22, 33) of a displacing unit is connected to the base by the passive connector, where the fixed part is integrated with the base.