FOUR-DEGREE-OF-FREEDOM PARALLEL MANIPULATOR FOR PRODUCING SCHÖNFLIES MOTIONS

摘要

Being used to generate Sch nflies movements the present invention relates to a kind of operating device (one) includes parallel at least two legs (B groups), each leg (B groups), the production holder movement being had a first end and a second end including actuating unit C, each leg (B groups) further includes that passive unit (D types) has a first end and a second end, the movement for the holder that the actuating unit (C groups) that the passive unit (D types) of first end is couple to first end makes passive unit (D types) react, each actuating unit (C groups) of the second end connection of pedestal (1), all second ends are opposite each other to have constant relative position; Be connected to second end with common end effector (36) makes common end effector (36) to be equipped with Sch nflies movements by branch B in all passive units (D types) in the middle.