公开(公告)号：EP2943317A1

公开(公告)日：2015-11-18

申请号：EP14700568.0

申请日：2014-01-08

申请人： Commissariat à l'Énergie Atomique et aux Énergies Alternatives

发明人： KFOURY, Farès

IPC分类号： B25J9/10

CPC分类号： B25J9/1065 ,  B25J9/04 ,  B25J17/00 ,  B25J18/00 ,  Y10T74/20305 ,  Y10T74/20329

摘要： A serial carrier having at least three degrees of freedom, comprising three pivot links, two of which have orthogonal axes (X1, X2), one of the first, second and third links being used to couple the carrier to a frame, and comprising an effector (8), said carrier comprising two passive deformable-parallelogram devices (4, 6) in the plane linked to the frame and to the effector (8), and first and second passive transmission devices (D1, D2) each formed by a double universal joint, the first double universal joint (D1) being linked to the frame and the second double universal joint being linked to the effector, the two double universal joints being linked together, said deformable-parallelogram devices (4, 6) and said transmission devices (D1, D2) being capable of restricting the movement of the effector (8) to only three degrees of freedom of translation.