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Articulated manipulator with joints having rotation axis inclined with respect to the longitudinal axis of the manipulator
Articulated manipulator with joints having rotation axis inclined with respect to the longitudinal axis of the manipulator
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机译:铰接式机械手,其关节的旋转轴相对于机械手的纵轴倾斜
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摘要
An articulated manipulator includes a first link c1, a second link c2, a third link c3, a fourth link c4, a fifth link c5 and a sixth link c6. The first link c1 is connected to a base 21 for rotation about a rotation axis aligned with the axis of the first link c1, the first and the second link are connected by a diagonal joint d2, the second and the third link are connected by a diagonal joint d3 so as to be turnable about a rotation axis L3 parallel to a rotation axis L2 about which the first and the second link are turned, the third and the fourth link are connected by a diagonal joint d4 so as to be turnable about a rotation axis L4 perpendicular to the rotation axes L3, the fourth and the fifth link are connected by a coaxial joint d5, and the fifth and the sixth link are connected by a diagonal joint d6. The articulated manipulator has a large work volume.
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