Articulated arm with parallel structure and six degrees of freedom

摘要

The articulated arm is characterized by a parallel kinematic structure with six degrees of freedom. It consists of three sub-chains kinematically connected, at the free end, to the terminal support plate. Each sub- chain is made up of an active member with two degrees of freedom, ... two passive members, ... [which is] connected to the actuator and to the terminal support plate by means of ball joints. IMAGE