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Modułowa struktura miniaturowego tripoda laboratoryjnego

Zbrowski A.

Zeszyty Naukowe Politechniki Rzeszowskiej. Mechanika

2009

z. 76 [261]

171-178

The article presents structure of precise parallel tri-axle manipulator with functionality of moving-inclinating table. End effector of the device is a platform, for which three coordinates of position are defined. The concept of the positioning mechanism is based on parallel tripod kinematics where end effector - the platform - is seated on three active limbs - actuators. The use of parallel kinematics allowed modular construction of positioning mechanism. The developed modular functional mechanism with minimal number of elements in kinematic chain ensures high positioning resolution. The concept of application of eccentric mechanism for platform positioning is an original idea in this solution.