公开(公告)号：US20080295637A1

公开(公告)日：2008-12-04

申请号：US12131192

申请日：2008-06-02

申请人： Simon LESSARD ,  Ilian Bonev ,  Pascal Bigras

发明人： Simon LESSARD ,  Ilian Bonev ,  Pascal Bigras

IPC分类号： B25J17/00

CPC分类号： B25J17/0266 ,  Y10T74/20305 ,  Y10T74/20329

摘要： A manipulator for supporting and displacing an object comprises a base. A moving portion supports the object. Two articulated mechanisms each having five rotational joints between links, with each articulated mechanism being connected to the base by two of the rotational joints. The moving portion is connected to both the articulated mechanisms by moving-portion joints. The articulated mechanisms and moving-portion joints are arranged with respect to each other between the base and the moving portion so as to constrain movement of the moving portion to displacements in two translational degrees of freedom and two rotational degrees of freedom with respect to the base. Four actuators are each operatively connected to a different one of the rotational joints between the base and the articulated mechanisms so as to selectively control the displacements of the moving portion in any one of the four degrees of freedom of the moving portion.

摘要翻译： 用于支撑和移动物体的操纵器包括基座。 移动部分支撑物体。 两个铰接机构各自在连杆之间具有五个旋转接头，每个铰接机构通过两个旋转接头连接到基座。 移动部分通过移动部分接头连接到两个铰接机构。 铰接机构和移动部分接头在基座和移动部分之间相对于彼此布置，以便将移动部分的运动限制在相对于底座的两个平移自由度和两个旋转自由度的位移 。 四个致动器各自可操作地连接到基座和铰接机构之间的不同的一个旋转接头，以便在移动部分的四个自由度中的任何一个中选择性地控制移动部分的位移。