Structure of mechanism |
| Function |
The robot has three actuators (4 -6) connecting a base unit (2) and a movable unit (3). A load balancing unit (1) coupled to the unit (2) and the unit (3) balances load exerted on the unit (3). The unit (1) has a pantograph (11) whose end is integrated to the unit (3) by an end connection. The unit (1) permits the mobility of the connection with respect to the unit (2) according to three degrees of liberty. |
| Comment |
IFMA (French Institute of Advanced Mechanics) - http://www.ifma.fr
Clermont-Ferrand, France
This model was generated to explain a certain patent in more detail.
The model and all attached items were made within this context. |
| Dimension of mechanism |
planar |
| Number of links |
21 |
| Drive movement |
Rotation superposed by rectilinear translation |
| Degree of freedom |
3 |
| Fundamental mechanism |
 Friction based mechanism |
| Number of inputs |
3 |
| Number of followers |
9 |
| Revolution ability |
no |
| Revolution ability of input link |
no |
| |
Application |
| Application area |
Production, Medical Science, Academic use, Various fields and Other fields |
| Examples of application |
This architecture is also used in industrial surgical field. |
| |
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