Parallel robot provided with wrist section having three degrees of freedom
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United States of America Patent
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Nov 25, 2014
Issued Date -
N/A
app pub date -
Sep 21, 2011
filing date -
Feb 13, 2009
priority date (Note) -
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Abstract
A parallel robot includes a movable-section drive mechanism, and a wrist-section drive mechanism. The wrist section includes a first rotary member supported on the movable section and rotatable about a fourth rotation axis different from axes of the three-axis translational motion of the movable section, a second rotary member connected to the first rotary member and rotatable about a fifth rotation axis orthogonal to the fourth rotation axis, and a third rotary member connected to the second rotary member and rotatable about a sixth rotation axis orthogonal to the fifth rotation axis. The third rotary member is provided with an attachment surface to which a tool is attached. The attachment surface is inclined with respect to the sixth rotation axis at a predetermined angle.
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