Device for Moving and Positioning an Object in Space
First Claim
1. A device for moving and positioning an object in space, the device comprisinga base element,three gear motor units arranged on the base element, and three arms, each of which is attached at its first end to one of said gear motor units and is hinge-connected at its second end each through a gimbal mounted connecting element to a common carrying element, at which at least one gripping element for gripping articles or parts is arranged;
- the gear motor units being arranged in a plane defined by the base element or in a plane parallel thereto so that they form the outer edges of a triangle, and the common carrying element being oriented in parallel to the plane defined by the base element and further comprisingmotor drives for said gear motor units arranged on the base element, wherein the motor drives are connected to share one common DC-link.
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Abstract
A device for displacing and positioning an object in space has a base element, three motor/transmission units stationarily mounted on the base element, and three arms. Each arm has a first end connected to the driving axle of a motor/transmission unit via a connecting flange each with a single degree of freedom and a second end articulated to a common support element. At least one gripper for gripping the object is mounted on the support element. A control and/or regulation unit on the base handles planning of movement of the support element and regulation of the motor/transmission units.
25 Citations
17 Claims
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1. A device for moving and positioning an object in space, the device comprising
a base element, three gear motor units arranged on the base element, and three arms, each of which is attached at its first end to one of said gear motor units and is hinge-connected at its second end each through a gimbal mounted connecting element to a common carrying element, at which at least one gripping element for gripping articles or parts is arranged; -
the gear motor units being arranged in a plane defined by the base element or in a plane parallel thereto so that they form the outer edges of a triangle, and the common carrying element being oriented in parallel to the plane defined by the base element and further comprising motor drives for said gear motor units arranged on the base element, wherein the motor drives are connected to share one common DC-link. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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Specification