Mechanical device, in particular for the rotation of a robot gripper.

摘要

Two mechanisms M1, M2 each comprising a deformable rhombus (BPCQ) whose two opposed apices (B and C) are connected by bars of equal length to a second pivot (O) and a third apex (P) of which is connected by a third bar to a third pivot (Op), these two pivots (O, Op) being mounted on a support (S1). The fourth apex (Q) of the rhombus therefore describes a circular arc whose axis (A1) is chosen to be common to the two mechanisms, which allows an object holder (T) to be made to revolve about the axis (A1) outside the mechanisms, which object holder (T) is articulated to these mechanisms at the fourth apices (Q). These mechanisms, combined with conventional rotor-like mechanisms whose axes (A2, A3) are concurrent with the first axis (A1) may be used in order to orient an object at will whilst keeping one of the points of the said object, represented by the point of coincidence (G) of the three axes, invariant. IMAGE