公开(公告)号：CA2303774A1

公开(公告)日：1999-03-25

申请号：CA2303774

申请日：1998-09-11

Applicant: ABB AB

Inventor： SMEDE JAN ,  BROGARDH TORGNY

IPC: B25J9/06 ,  B25J9/10 ,  B25J11/00 ,  B25J17/02 ,  B25J18/00

Abstract: A robot for movement of a moveable element (2) relative to a base element (1) comprises at least two link devices (4, 5, 6) coupleed between the elements. These link devices comprise each at least two mutually articulated link units (7, 8; 9, 10; 11, 12) and power exerting arrangements (13, 14, 15) adapted to pivot the link devices for changing the relative position of the elements. A first (4) of the link devices is connected with the moveable element (2) via a hinge connection (16) so that there are, on consideration of the robot in its entirety, at least two degrees of freedom in the form of relative pivotability about two pivot axes, real or imaginary, extending at an angle relative to each other between the first link device (4) and said element (2). A further (5) of the link devices is connected to the base element (1) via a hinge connection (32, 33, 28) which on consideration of the robot in its entirety provide for freedom of movement between the further link device (5) and the base element (1) with respect to at least two degrees of freedom consisting of pivotability about two different pivot axes, real or imaginary.