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Mechanism with six degrees of freedom manipulator chain cinemu00c1tica hybrid with one degree of freedom long

机译：六自由度机械手链cinem u00c1tica杂合体的机制，一自由度长

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Mechanism with six degrees of freedom manipulator chain cinemu00c1tica hybrid with one degree of freedom long. It is formed by a kinematic chain hybrid, with six degrees of freedom, based on two rails, these could be of any forms not collinear in space.The general concept of the mechanism is based on a mobile platform in the form of a solid minimally octagonal (2), supported on legs (4) on a triangular triangular base (1). The mobility of the platform is achieved by the flexibility of the triangle base (1) and of the triangles of the legs (4).The flexibility of the triangular base is obtained by the position of the vertexes which support the trajectories of points guided on rails (3), which may have any form. Another important aspect of this concept is the mobile platform (2), which has the pivots of contact with the triangular legs (4) arranged in volume instead of in the plan.The basic design, triangular legs have a side composed of a rod of fixed length (4) and a side composed of an extensible actuator. The triangular leg (4) is connected to the platform (2) by two semi spherical pivots (4.f) and is connected to the car by a spherical pivot (4.g).A variation of the basic design is shown in Figure 4, where the triangular legs (5) are configured by a stem length in that slides on the other rod length constant. An extension of the general concept, shown in Figure 6, is the adoption of a fourth triangular leg (4).The mobile platform (7) has the pivots of connection with triangular legs (4) arranged at the vertices of a regular decaedro, consisting of eight triangular faces and two rectangular sides. Figure 7 shows that the flanges for clamping tools (7) are in rectangular faces, upper and lower.
机译：六自由度机械手链cinem u00c1tica杂合体的机制，其中一自由度长。它是由运动自由链混合动力形成的，具有六个自由度，基于两个轨道，它们的形式可以是在空间上不是共线的。该机构的一般概念是基于最小化固体形式的移动平台八角形（2），支撑在三角三角形基座（1）的腿（4）上。平台的可移动性是通过三角形底座（1）和腿部三角形（4）的柔韧性实现的。三角形底座的柔韧性是通过支撑顶点的轨迹的顶点位置来获得的导轨（3），可以采用任何形式。这个概念的另一个重要方面是移动平台（2），该平台具有与三角形支脚（4）接触的枢轴，这些支脚按体积而不是按平面布置。基本设计中，三角形支脚的侧面由一根杆组成。固定长度（4）和侧面由可延伸的执行器组成。三角形支腿（4）通过两个半球形枢轴（4.f​​）连接到平台（2），并通过球形枢轴（4.g）连接到轿厢。基本设计的一种变化如图5所示。在图4所示的实施例中，三角形的腿（5）由杆的长度构成，该杆的长度在另一杆长度常数上滑动。总体概念的扩展（如图6所示）是采用了第四个三角腿（4）。移动平台（7）的枢轴与布置在规则十足顶点处的三角腿（4）相连，由八个三角形的面和两个矩形的边组成。图7显示了用于夹紧工具（7）的法兰在上，下矩形表面上。

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