| abstract |
The invention relates to a robotic device for the positioning and orientation of a platform that is connected thereto by means of articulated support structures forming parallel mechanical links, each in the form of a serial kinematic chain of articulations that are interconnected by support segments. The inventive device ( 1 ) is characterized in that it comprises three articulated parallel mechanical links comprising: (i) two opposing, symmetrical and co-planar support structures ( 4 and 5 ), and (ii) a third support structure ( 6 ) which is located in a plane that is perpendicular to the plane containing the support structures ( 4 and 5 ). According to the invention, the articulated links formed by the three supports structures ( 4, 5 and 6 ) enable the controlled movement of points belonging to the platform ( 2 ) on a surface corresponding to a spherical or ellipsoidal cap and, preferably, essentially to a half-sphere, thereby providing at least five degrees of freedom. |