Movement device has powered axle arranged per serially parallel kinematic element whereby lower part of each element has guiding device firmly attached for linear thrust elements

摘要

The device has serial combination of parallel kinematics with a powered axle per parallel kinematic element. Each kinematic element (1,6) has a lower part (2) with a guiding device (3) firmly attached to it for linear thrust elements (4). The upper section (5) makes the connection with next parallel kinetic element on one hand and a guide way for movement elements (7) on other hand. The movement elements are connected to the coupling mechanism (8) with the thrust elements in such a way that the shifting of linear thrust element, the change of position and orientation of upper section, opposite to the lower part, in maximum of three degrees of freedom (two rotation and two translation) per parallel kinematic element. By serially lining up of several such parallel kinematic elements, moving apparatus with any number of degrees of freedom can be produced.