Device for a body's spherical motion control

Abstract

A device for a body's ( 1 ) spherical motion control connected with a frame ( 5 ) by means of a spherical joint ( 2 ) arranged on a shank connecting the body ( 1 ) with the frame ( 5 ) and through actuating arms ( 3 ) with drives ( 4 ), where the shank is sectional and the spherical joint ( 2 ) is arranged between the first part ( 9 ) of the shank which is firmly fixed to the frame ( 5 ) and the second part ( 10 ) of the shank which is firmly fixed to the body ( 1 ), whereas the number of parallel arms ( 3 ) with drives ( 4 ) is redundant. In order to increase the accuracy of both the self-calibration itself and a follow-up positioning of the body in the work area and to achieve a large range of the body's ( 1 ) rotating, the number of parallel arms ( 3 ) with drives ( 4 ) is five at minimum and the length of the first part of the shank ( 9 ) connected to the frame ( 5 ) is longer than the distance of the body ( 1 ) edge from the point of connection of the shank ( 10 ) to the body ( 1 ).

1 . A device for a body's spherical motion control connected with a frame by means of a spherical joint arranged on a shank connecting the body with the frame and through actuating arms with drives, demarcated by the fact, that the shank is sectional and the spherical joint is arranged between the shank which is firmly fixed to the frame and the shank which is firmly fixed to the body, whereas the number of parallel arms with drives is redundant. 
     
     
         2 . A device for a body's spherical motion control according to  claim 1 , demarcated by the fact, that the number of parallel arms with drives is five at minimum. 
     
     
         3 . A device for a body's spherical motion control according to  claim 1 , demarcated by the fact, that the length of the shank connected to the frame is longer than the distance of the body's edge from the point of connection of the shank to the body. 
     
     
         4 . A device for a body's spherical motion control according to  claim 1 , demarcated by the fact, that parallel arms are fitted with a telescopic drive or an extensible continuous drive or a traversable drive or a rotational drive. 
     
     
         5 . A device for a body's spherical motion control according to  claim 1 , demarcated by the fact, that actuating parallel arms are connected to the body through an arm's spherical joint and a shank of the body. 
     
     
         6 . A device for a body's spherical motion control according to  claim 1 , demarcated by the fact, that the first part of the shank is fitted with a drive for a spherical joint position change. 
     
     
         7 . A device for a body's spherical motion control according to  claim 1 , demarcated by the fact, that the number of parallel arms is six and they are led from three points on the frame to three points on the body. 
     
     
         8 . A device for a body's spherical motion control according to  claim 1 , demarcated by the fact, that parallel arms are led from points on the frame obliquely to points on the body. 
     
     
         9 . A device for a body's spherical motion control according to  claim 1 , demarcated by the fact, that the top end of one parallel arm is situated above the bottom end of an adjacent actuating parallel arm. 
     
     
         10 . A device for a body's spherical motion control according to  claim 2 , demarcated by the fact, that:
 the length of the shank connected to the frame is longer than the distance of the body's edge from the point of connection of the shank to the body;   parallel arms are fitted with a telescopic drive or an extensible continuous drive or a traversable drive or a rotational drive;   actuating parallel arms are connected to the body through an arm's spherical joint and a shank of the body;   the first part of the shank is fitted with a drive for a spherical joint position change;   the number of parallel arms is six and they are led from three points on the frame to three points on the body; and   parallel arms are led from points on the frame obliquely to points on the body.