Importance

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Abstract

A manipulator with six degrees of freedom includes a moving plate having three points arranged with substantial equal angles therebetween, a fixed plate having three protruding portions arranged with substantial equal angles therebetween, the fixed plate being positioned under the moving plate and being spaced apart from the moving plate, and three frames rotatably mounted on the protruding portions, respectively, each of the three frames having a first and a second points opposite from each other about the protruding portion. In order to connect one of the three points on the moving plate to the first and the second points on one of the three frames, respectively, thereby enabling the moving plate to move relatively to the fixed plate with six degrees of freedom and to detect distance variations between the one point on the moving plate and the first point, and between the one point on the moving plate and the second point, when the moving plate moves, the manipulator includes three universal joints, six rack gears, six pinion gears and six shaft encoders.

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First Claim