Improvements to the operators planes a trajectory figee or programmable a very high rate

摘要

The manipulator has a mobile structure (B) with a gripper nacelle, suspended from a housing or ball joint and equipped with at least one arm (Bi) which has one end articulated to a fixed support (Ar). It can comprise one arm (B) suspended by a single pivot point from arm (Bi), which has its other end pivoted to a fixed support (Ar), with arm (B) equipped with a gripper (P) or tool. The trajectory of the gripper's movement is controlled by two actuators (A1, A2) which are linked to the two arms (B, Bi) and can be programmed. In variants of the design the manipulator can have a gripper nacelle suspended from two parallel arms actuated by toothed belts and pulleys, or two articulated parallelograms.