Compact parallel kinematics robot
A parallel kinematics robot has a first drive arm and a second drive arm, the two drive arms being crossed when the robot operates within its normal work area. The drive arms thereby occupy less space in a horizontal direction compared with a situation where the two drive arms point away from each other.
1. A parallel kinematics robot, comprising:
a first shaft rotatable about a first axis, a second shaft rotatable about a second axis, a third shaft rotatable about a third axis;
a first drive arm attached to the first shaft, a second drive arm attached to the second shaft, a third drive arm attached to the third shaft, each drive arm being connected to an end effector by at least one rod;
the first, second, and third axes being parallel, and a distance between the first axis and the second axis being at least 30% of the length of the first drive arm;
the first and second axes defining a reference plane, the end effector having an extreme position furthest away from the reference plane;
a reference axis being perpendicular to the reference plane and extending between the reference plane and the extreme position;
wherein when the end effector is positioned at a middle point of the reference axis, the first and second drive arms are crossed when observed along a first direction, the first direction being a direction in which the first and second shafts extend from respective actuators.
2. The parallel kinematics robot according to claim 1 , wherein the distance between the first axis and the second axis is at least 40% of the length of the first drive arm.
3. The parallel kinematics robot according to claim 2 , wherein the distance between the first axis and the second axis is 50% of the length of the first drive arm.
4. The parallel kinematics robot according to claim 2 , wherein the distance between the first axis and the second axis is 60% of the length of the first drive arm.
5. The parallel kinematics robot according to claim 2 , wherein the distance between the first axis and the second axis is 70% of the length of the first drive arm.
6. The parallel kinematics robot according to claim 2 , wherein the distance between the first axis and the second axis is 75% of the length of the first drive arm.
7. The parallel kinematics robot according claim 1 , wherein the third shaft extends from a respective actuator in a second direction, the first direction being opposite to the second direction.
8. The parallel kinematics robot according to claim 1 , wherein the reference plane is inclined in relation to a horizontal plane.
9. A parallel kinematics robot, comprising:
a first shaft rotatable about a first axis, a second shaft rotatable about a second axis, a third shaft rotatable about a third axis;
a first drive arm attached to the first shaft, a second drive arm attached to the second shaft, a third drive arm attached to the third shaft, each drive arm being connected to an end effector by at least one rod;
the first, second, and third axes being parallel, and a distance between the first axis and the second axis being at least 30% of the length of the first drive arm;
the first and second axes defining a reference plane, the end effector having an extreme position furthest away from the reference plane;
a reference axis being perpendicular to the reference plane and extending between the reference plane and the extreme position;
wherein when the end effector is positioned at a middle point of the reference axis, the first and second drive arms are crossed when observed along a direction parallel to the first, second, and third axes.
10. The parallel kinematics robot according claim 9 , wherein the first and second shafts extend from respective actuators in a first direction parallel to the first, second, and third axes, and the third shaft extends from a respective actuator in a second direction parallel to the first, second, and third axes; and
wherein the first direction is opposite to the second direction.