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WO2017067726A1 - Robot à cinématique parallèle et procédé pour faire fonctionner un tel robot - Google Patents

Robot à cinématique parallèle et procédé pour faire fonctionner un tel robot Download PDF

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Publication number
WO2017067726A1
WO2017067726A1 PCT/EP2016/072140 EP2016072140W WO2017067726A1 WO 2017067726 A1 WO2017067726 A1 WO 2017067726A1 EP 2016072140 W EP2016072140 W EP 2016072140W WO 2017067726 A1 WO2017067726 A1 WO 2017067726A1
Authority
WO
WIPO (PCT)
Prior art keywords
manipulator
tool
tool holder
tool head
actuating arms
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2016/072140
Other languages
German (de)
English (en)
Inventor
Christian Westermeier
Josef Unterseher
Manuel Kollmuss
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Krones AG
Original Assignee
Krones AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Krones AG filed Critical Krones AG
Publication of WO2017067726A1 publication Critical patent/WO2017067726A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators

Definitions

  • the present invention relates to a parallel kinematic robot with the
  • independent claim 1 relates to a method for operating and / or handling such a parallel kinematic robot according to the independent method claim 11.
  • Known packaging or palletizing systems for stacking and palletizing objects such as packages or containers with several articles such as beverage containers usually have horizontal conveyors with conveyor belts on which the piece goods or packages are transported in uninterrupted or irregular sequence to a handling device. There is a shift, alignment and / or turning individual piece goods or containers to bring them into a suitable spatial arrangement, which forms a basis to push together the piece goods or containers in subordinate Gruppierstationen stackable piece goods or bundle layers.
  • Stops or two bands can have different speeds.
  • Known handling devices can also be provided with grippers, for example, suspended on a gantry system and moved in a defined range of motion, rotated and also can be moved in the vertical direction to lift individual cargo or containers for turning and / or moving.
  • the grippers can, for example, also be arranged on multi-axis robot arms, which are placed laterally on the horizontal conveyors.
  • Such gripping devices are known for example from EP 2 388 216 A1.
  • Deltarobotern or parallel kinematic robots are based, which are referred to in a three-arm design as Tripode.
  • Each of the arms of such a tripod or delta robot consists of a driven at the base about a frame fixed pivot axis pivotally mounted upper arm and articulated to the upper arm and a coupling element connected to the lower arm.
  • the forearm is passive, executed free of a drive to its pivoting relative to the upper arm or the coupling element.
  • one or more of the lower arms may be connected via ball joints or other multiaxially movable joints to the respectively associated upper arms and the coupling element.
  • Such a single forearm is free to pivot and has no inherent stability.
  • All upper arms of a delta robot are in each case mounted so as to be pivotable about preferably pivot axes lying within a common plane.
  • Three connected to the coupling element and each with its associated upper arm forearms form a force triangle in each position, which can only move when the three upper arms synchronously perform the calculated for them pivotal movements about their fixed frame pivot axes.
  • Two or more pivot axes can be parallel; As a rule, all pivot axes have two points of intersection with other pivot axes.
  • At least one of the lower arms can optionally consist of two linkage elements, also referred to as ellipses and spokes, forming a parallelogram linkage, in order to guide the coupling element in at least one predetermined orientation relative to the base.
  • linkage elements also referred to as ellipses and spokes, forming a parallelogram linkage, in order to guide the coupling element in at least one predetermined orientation relative to the base.
  • all forearms are each made of such
  • Parallelogram linkage acting struts formed pairs.
  • the coupling element hinged to the forearms serves as a working platform, which in practice is also referred to as a Tool Center Point (TCP).
  • TCP Tool Center Point
  • a manipulator may be arranged, for example.
  • Handling device so that thus articles, containers o.
  • Piece goods can be gripped and rotated, moved or lifted from a support surface.
  • the arranged on the working platform or the TCP manipulator can either be rotatably mounted or have a rotatable portion to align the manipulator or attached gripper or tools or to perform a desired rotation of the article or piece goods or a desired rotation of the tool can ,
  • a drivable rotatable mounting of the manipulator on the coupling element is basically also conceivable to arrange the manipulator non-rotatably on the coupling element and the entire coupling element with a corresponding compensating movement of the arms by means of a telescopic
  • Movements about a fifth axis is called, for example, delivery and
  • Opening movements of jaws which are arranged on the rotatable about the so-called.
  • Fourth axis manipulator or tool holder Opening movements of jaws, which are arranged on the rotatable about the so-called.
  • Fourth axis manipulator or tool holder Opening movements of jaws, which are arranged on the rotatable about the so-called.
  • Embodiments at least the axis of rotation is centrally located centrally to a suspension to which the actuating arms are anchored, being rotated via a telescopic gimbal torque shaft of the tool carrier. Below the rotating
  • Tool carrier is then a gripper whose axis is driven for clamping of containers or piece goods by a moving motor.
  • this fourth central rotary shaft is designed so large volume that find in the cavity more frame-fixed drive axles place, via other telescopic gimbal torque waves on the tool carrier
  • Tool movements such as can perform clamping of a workpiece with jaws.
  • An industrial robot designed as a parallel kinematic robot with an outer cardan shaft and an inner cardan shaft guided on the inside discloses WO 2014/0531 15 A1.
  • a simple constructed robot with delta kinematics with a rotatably arranged in a tool holder tool is disclosed in EP 2 241 416 B1.
  • the tool turns are carried out by means of a geared motor, which is arranged on a hinged to positioning arms hinge plate.
  • a primary aim of the present invention can be seen in a simply constructed parallel kinematic robot with a rotary drive in a manipulator movably suspended on the actuating arms or tool carrier to provide, which has a relatively high power density with low weight of the rotary drive.
  • Another object of the invention is to provide a correspondingly improved method for handling and / or controlling such
  • Rotary drive can realize sufficiently high torques with high control precision.
  • the invention proposes a Parallelkinematik- robot with the features of the independent claim 1, which comprises at least one suspension or base on which at least two separately driven and independently movable actuating arms are hinged or mounted, respectively by an upper arm movable by means of a drive and a lower arm articulated thereon are formed.
  • the robot comprises an articulated on the forearms of the at least two actuating arms and by means of movements of the
  • This electric direct drive is preferably formed by an electric motor formed as an internal rotor, which is usually referred to as an electric torque motor or as so-called.
  • Torque motor is known.
  • the torque motor is a gearless direct drive that is structurally integrated in the manipulator or tool holder or tool head - often referred to as a so-called Tool Center Point or TCP, wherein an outer ring of the direct drive typically as a stator and the inner ring as a rotor are executed.
  • the rotation of the tool takes place via the inner ring. Since a counter-torque acts on the outer ring during all rotations of the inner ring or inner rotor with the tools arranged thereon, this resulting torque can optionally be absorbed and supported by sufficiently dimensioned actuating units or actuating arms (arms or forearms and upper arms).
  • the particular advantage of the electric direct drive used is the very compact design, dispensing with any gearbox as well as in the favorable of typically applicable torque motors interpretation, as these motors are slow-speed, can deliver relatively high torques and therefore due to their special properties are ideally suited for the intended purposes.
  • the for driving the parallel kinematic robot according to the invention is the very compact design, dispensing with any gearbox as well as in the favorable of typically applicable torque motors interpretation, as these motors are slow-speed, can deliver relatively high torques and therefore due to their special properties are ideally suited for the intended purposes.
  • Toroidal motor usually used can be formed in particular by a brushless DC motor whose inner ring forms the rotor on which a rotatable gripping arm, a rotatable tool o. The like. Suspended, while the fixed stator is arranged in the tool head or manipulator, with the forearms the actuating arms is articulated.
  • Tool head has a torque support, which allows the desired precise positioning movements of the mounted on the manipulator or the tool holder or tool head torque motor, otherwise in all rotational movements a
  • the torque support can in particular by a between manipulator and / or tool holder or
  • Tool head and the suspension or base extending support strut be formed.
  • the torque support also, for example, by a between
  • Manipulator and / or tool holder or tool head and the suspension or base arranged propeller shaft may be formed, wherein the optional propeller shaft may preferably be formed as a thin-walled hollow shaft, whereby it has a very small mass, so that it does not adversely affect the dynamic properties of the robot.
  • the optional propeller shaft may preferably be formed as a thin-walled hollow shaft, whereby it has a very small mass, so that it does not adversely affect the dynamic properties of the robot.
  • several support struts and / or more propeller shafts can form meaningful torque supports, if a support strut or a single propeller shaft is not sufficient. If a pure train-pressure load of the forearms to be achieved, it is necessary that the resulting during rotation of the stator counter-torque over a
  • Torque support such as the mentioned, preferably telescopic
  • Tool holder or tool head (so-called Tool Center Point or TCP) and in the base plate of the joint axis can be omitted here. If, on the other hand, only the transmission is to be saved, it is optionally also possible to use the direct drive in the
  • Integrate base plate wherein the stator is preferably in the base plate, while the rotor on a telescoping rotatable PTO shaft
  • the articulated shaft and / or support strut which is preferably used in the parallel-kinematics robot according to the invention, without it being simultaneously rotatable.
  • the propeller shaft or support strut join in all movements of the manipulator or tool holder or tool head, which can be arranged in rapid succession at different distances from the suspension or base.
  • multiple struts or more propeller shafts which can be telescoped in this case.
  • the rotatable section rotatably connected to the manipulator and / or tool holder or the tool head has at least one further actuator and / or at least one further movable control element.
  • This at least one further actuator and / or the at least one further movable control element which is optionally to be understood, can also be assigned at least one electric actuator or electric servomotor.
  • This optional movable control element or this optional actuator can be a movable tool, a gripper or an almost arbitrary manipulation element and / or tool, depending on which primary purpose of the parallel kinematics robot according to the invention is to serve.
  • such a parallel kinematic robot in particular the handling, stacking and / or manipulating articles, groupings, containers, piece goods, container and / or piece goods or serve the like, wherein the manipulator and / or the Tool holder or tool head comprising means or a plurality of means for gripping and / or handling of the articles, groupings, containers, cargo, packaged and / or piece goods and / or a manufacturing or assembly tool and may be mechanically coupled to the forearms of the at least two actuating arms , so that a position of the manipulator and / or the tool holder or tool head can be specified by a movement of one or more of the at least two actuating arms.
  • the invention proposes for the achievement of the above object, a method for operating and / or handling a parallel kinematic robot with the features of the independent method claim, wherein the
  • Embodiment variants can be configured or equipped.
  • the parallel kinematic robot used for the method comprises at least one suspension or base, on which at least two separately driven and independently movable actuating arms are hinged or mounted, which are each formed by a movable upper arm by means of a drive and a pivotally mounted thereon forearm, and one articulated on the forearms of the at least two actuating arms and by means of movements of Stellarme within a definable range of motion movable manipulator and / or tool holder or tool head.
  • Manipulator and / or tool holder or tool head has a relative to the suspension or base or with respect to the actuating arms rotatable portion which is rotatably connected to the manipulator and / or tool holder or the tool head by an electric direct drive, so that the electric direct drive into the situation is offset to perform rotational movements of the rotatable section.
  • These rotational movements of the rotatable portion relative to the manipulator and / or tool holder or the tool head can in particular by a
  • Internal rotor formed torque motor can be effected. With such a gearless electric, very compact direct drive or Torqueantrieb high torques can be delivered at low speeds, which is very beneficial for the intended typical purposes.
  • the method may further provide that the manipulator and / or tool holder or the tool head via a
  • Torque support is supported on the suspension or the base, whereby the
  • the manipulator and / or tool holder or the tool head is supported by a support strut or propeller shaft extending between the manipulator and / or tool holder or tool head and the suspension or base, optionally also by a plurality of support struts. Since in most of the movements in their respective internal angles between the upper arm and lower arm of the respective actuating arms changing adjusting movements, the distances between the manipulator or tool holder or tool head and the suspension or base vary in rapid succession, the torque supports, formed by the support struts and / or by the
  • Cardan shaft preferably be made telescopic.
  • the parallel kinematics robot according to the invention which can be equipped or configured in particular according to one of the embodiments described above, can be used, in particular, as an industrial robot for handling, stacking and / or manipulating articles, groupings, containers, piece goods, containers and / or Used and used in connection with the transport and transport, processing, packaging and / or palletizing of articles, groupings, containers, general cargo and / or container and / or piece goods.
  • the parallel kinematics robot according to the invention which can be equipped or configured in particular according to one of the embodiments described above, can optionally or advantageously also be used as an industrial robot for guiding at least one tool in connection with production, center and / or coating application, assembly , Manipulation and / or handling in one
  • Manufacturing and / or industrial environment can be used and used.
  • the invention can be characterized as follows. Is a rotation at the tool center point (TCP), at the manipulator or tool holder or
  • Coupled torque tools is initiated by a propeller shaft in the TCP or manipulator or tool head and must be supported and received via the actuating arms.
  • Base plate and the rotor is located on a telescopic and rotatable PTO shaft.
  • FIG. 1 shows a schematic view of an embodiment variant of a parallel kinematics robot according to the invention, which can be used, for example, for handling and / or manipulating articles, groupings, containers or piece goods.
  • FIG. 2 shows a perspective detailed view of the parallel kinematic robot according to FIG. 1.
  • FIG. 3 shows a further perspective detailed view of the parallel kinematics robot according to FIG. 1 or according to FIG. 2.
  • FIGS. For identical or equivalent elements of the invention, identical reference numerals are used in FIGS. Furthermore, for the sake of clarity, only reference symbols are shown in the individual figures, which are required for the description of the respective figure. The illustrated embodiments merely represent examples of how the device or the method according to the invention can be configured and should not be understood as a final limitation.
  • a parallel kinematics robot according to the invention and generally designated by the reference numeral 10 explained in FIGS. 1 to 3 refer to a delta kinematics robot or parallel kinematic robot with three similar pivot arms or to a so-called.
  • Deltaroboter or so-called Tripod refer, the part of a
  • Handling device or a manipulator for handling, for rotating, moving or receiving items, general cargo or containers may be.
  • the parallel-kinematics robot 10 according to the invention according to FIGS. 1 to 3 could also have four similar pivoting arms, which may also be referred to as a so-called quadpod. Also variants with only two Stellarmen - so-called Duopods - are conceivable in principle and for some
  • pivoting or actuating arms may protrude from a lower base, so that a tool head suspended from the forearms is between the downwardly bent forearms, which are each pivotally suspended from the upwardly projecting upper arms.
  • FIG. 1 shows a conceivable embodiment of a parallel kinematics robot 10 according to the invention for handling and / or manipulation of articles, groups, containers, cargo or the like, not shown here, depending on the design variant either for handling and / or for Manipulation of cargo and / or bundle groups or even of cargo and / or bundle layers can be used.
  • the schematic representation of Fig. 1 shows a conceivable embodiment of a parallel kinematics robot 10 according to the invention for handling and / or manipulation of articles, groups, containers, cargo or the like, not shown here, depending on the design variant either for handling and / or for Manipulation of cargo and / or bundle groups or even of cargo and / or bundle layers can be used.
  • the schematic representation of Fig. 1 shows a conceivable embodiment of a parallel kinematics robot 10 according to the invention for handling and / or manipulation of articles, groups, containers, cargo or the like, not shown here, depending on the design variant either for handling and / or for Manipulation of
  • Parallel kinematic robot 10 also for the movable control of a joining and / or production tool o. The like. Can be used.
  • the detail views of Figures 2 and 3 show more clearly some of the components of the parallel kinematic robot 10; Moreover, FIGS. 2 and 3 make it even clearer than FIG. 1 that the parallel-kinematics robot 10 is a robot or delta-kinematics robot 10 with three equal-arm actuating arms 20.
  • the items, groups, containers or piece goods or layers with piece goods or containers stand in particular on a supporting plane and / or a conveying section 12 of a device 14 for handling, conveying, grouping and / or packaging articles, piece goods , Groups and / or containers or are moved on this support plane or the conveyor section 12 in particular in the horizontal direction.
  • Manipulator 16 trained or such a manipulation unit 16 having robot 10 is disposed above the support plane and / or the conveyor section 12 and includes an upper suspension 18, are hinged to the three separately driven actuating arms 20 and stored.
  • Each of these three actuating arms 20 is formed by two relatively pivotable arm portions 22 and 24, namely in each case by an upper arm 22, which is movable about a horizontal pivot axis and is suspended from the upper suspension 18 hinged and driven by a motor, and by a forearm 24, which is hingedly connected to the upper arm 22 and leads downwards, so that all three forearms 24 meet in a lower coupling portion 26, the so-called.
  • Tool head, tool carrier or tool center point or TCP As illustrated in more detail in FIG. 2, the lower arms 24 are each through
  • a separately activatable gripping device 28 with a pair of gripping jaws which can be counteracted to one another is provided on this lower tool head, tool carrier or coupling section 26 or the TCP, the gripping and / or manipulation of the articles, groupings, located on the conveyor section 12 , Containers or general cargo serves.
  • Tool holder designated and suspended on the forearms 24 manipulator 16 of the parallel kinematics robot 10 shown may optionally include or include any manufacturing, joining, gripping and / or handling tools that can be used in a manufacturing environment, possibly also in Cooperation with other such or similar robot 10. It should be emphasized at this point again that all terms used in the present context, such as manipulator 16,
  • Tool holder or tool head 26 are generally understood to be non-limiting in the sense of a gripping device 28 or holding device o. The like.
  • Tool head 26 or tool holder, which usually forms the manipulator 16 or is part of the manipulator 16, is also referred to as TCP or Tool Center Point 26.
  • each of the three actuating arms 20 can be actuated within certain limits, which are defined by the respective pivoting radius, independently of the other actuating arms 20, which results in a free mobility of the manipulator 16 results in a defined movement space 30 together with its gripping device 28, wherein a position of the gripping device 28 within the movement space 30 can be predetermined by a movement of one or more of the total of three actuating arms 20. This movement or
  • Working space 30 is - relative to the tool center point 26 - in the vertical direction or in the z-direction, a relatively flat cylinder, at its lower edge, a likewise relatively flat spherical segment connects, as indicated in Fig. 1.
  • the upper suspension 18 provides in the illustrated embodiment of FIG. 1 a support over a total of three inclined support beams 32, which in turn in a frame 34 of the device 14 for handling, conveying, grouping and / or packaging of articles, cargo, groups and / or containers.
  • the frame 34 may be, for example, a rigid steel support frame o. The like. With screwed vertical and horizontal beams, which receives the horizontal conveyor section 12 in the lower region.
  • the construction shown, however, is by no means limiting, but provides only one embodiment of a variety of possible or useful feasible embodiments for the design of the device, its parts and the frame and suspension parts.
  • FIG. 2 The perspective detail view of FIG. 2 reveals clearly the hinged bearings of the total of three actuating arms 20 on the underside of the upper suspension 18.
  • Each upper arm 22 of the three actuating arms 20 is associated with a drive motor not shown here in detail, the example.
  • Geared motor can be formed, and can move each upper arm 22 in each case different pivoting movements about respective horizontal pivot axes 36, so that the desired positioning movements of the suspended on the forearms 24 manipulator 16 within the movement space 30 (see Fig. 1) are possible.
  • the manipulator 16 formed by the tool head 26 carries a rotating section 38 rotatably mounted therein, on which a bracket 40 is fastened, for example a gripping arm
  • Handling and / or production tool o. The like. Can wear.
  • the rotatable section 38 with the console 40 attached thereto is rotatably connected to the manipulator 16 or tool head 26 via an electric direct drive 42.
  • This electric direct drive 42 is formed in the embodiment shown by an internal rotor designed as an electric torque motor 44.
  • In this torque motor 44 is a gearless direct drive 42, the structurally in the manipulator 16 and
  • Tool holder or tool head 26 is integrated, wherein an outer ring of the
  • Direct drive 42 are typically designed as a stator 46 and the inner ring as a rotor 48.
  • the inner ring 48 and inner rotor with the thereto are typically designed as a stator 46 and the inner ring as a rotor 48.
  • the particular advantage of the electric direct drive 42 used is the very compact design, in dispensing with a heavy gear and in the high torque available from the torque motor 44.
  • the torque motor 44 used for the drive 42 in the tool head 26 of the parallel kinematics robot 10 may be formed in particular by a brushless DC motor.
  • the manipulator 16 and the tool head 26 may have a torque support 52, which the desired precise positioning movements of the manipulator 16 and am
  • Tool head 26 mounted torque motor 44 allows, at the same time the
  • Actuator arms 20 are relieved of the supporting forces.
  • the torque support 52 by a between manipulator 16 and
  • Tool head 26 and upper suspension 18 arranged articulated shaft 54 is formed, which may be preferably formed as a thin-walled hollow shaft, whereby it has a very small mass, so that it does not adversely affect the dynamic properties of the robot 10.
  • the telescoping propeller shaft 54 provides a rotatable connection between the outer ring forming the stator 46 on the tool head 26 and the upper suspension 18, thereby simultaneously forming the upwardly displaced stator.
  • the rotor 48 formed by the inner ring of the torque motor 44 is not visible here, but is indicated by the rotary arrow 50 at the top of the suspension 18.
  • the torque support 52 could also be formed by a support strut extending between the manipulator 16 and / or tool holder or tool head 26 and the suspension 18, but which is not shown here. Also, several support struts and / or more propeller shafts 54 can be useful
  • Torque supports 52 form, if a single support strut or a single propeller shaft 54 should not be sufficient.
  • TCP Tool Center Point

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un robot à cinématique parallèle (10) ainsi qu'un procédé pour faire fonctionner et/ou pour manipuler ledit robot. Le robot (10) comprend une suspension (18) ou base, sur laquelle sont montés ou fixés de manière articulée au moins deux bras de commande (20) entraînés séparément et pouvant être mûs indépendamment, qui sont chacun constitués d'un bras (22), pouvant être mû par l'intermédiaire d'un entraînement, et d'un avant-bras (24) monté sur le bras de manière articulée, ainsi qu'un manipulateur (16) et/ou un porte-outil ou une tête d'outil (26) monté(e) de manière articulée sur les avant-bras (24) desdits au moins deux bras de commande (20) et pouvant être mû(e) par l'intermédiaire de mouvements des bras de commande (20) à l'intérieur d'un espace de mouvement (30) pouvant être défini, le manipulateur (16) et/ou le porte-outil ou la tête d'outil (26) comprenant une partie (38) rotative par rapport à la suspension (18) ou la base ou par rapport aux bras de commande (20), qui est reliée de manière rotative au manipulateur (16) et/ou au porte-outil ou à la tête d'outil (26) par l'intermédiaire d'un entraînement électrique direct (42), et ledit entraînement électrique direct (42) exécutant des mouvements de rotation de la partie rotative (38).
PCT/EP2016/072140 2015-10-20 2016-09-19 Robot à cinématique parallèle et procédé pour faire fonctionner un tel robot Ceased WO2017067726A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015220357.3 2015-10-20
DE102015220357.3A DE102015220357A1 (de) 2015-10-20 2015-10-20 Parallelkinematik-Roboter und Verfahren zum Betreiben eines solchen

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