3 Parallel Mechanism Structure for Controlling of 3-Dimensional Position and Orientation

摘要

PURPOSE: Parallel device structure for controlling a position in a three dimension is provided to extend a slanting angle of a main shaft, to process a lower portion of material and to rotate the slanting angle of the main shaft. CONSTITUTION: Parallel device structure for controlling a position of three dimensions comprises first, second and third links(101,202,303); a circular arc shaped vertical guide(101); rectilinear shaped vertical guides(102,103); a circular arc shaped horizontal guide(104); a three shaft rotational joint; a first shaft rotational joint; and a first shaft arc-transferring joint. The guides are connected to the arc shaped horizontal guide by the first shaft arc-transferring joint. The first link drives the circular arc shaped vertical guide by the first shaft arc-transferring joint of the fist link. The second and third links are transferred along the rectilinear vertical guide. Thereby, the parallel device structure for controlling the position of the three dimensions extends a slanting angle of a main shaft. Moreover, the parallel device structure for controlling the position of the three dimensions rotates the slanting angle of the main shaft.