Patent Number: 7,086,307

Title: Parallel control arm with two branches

Abstract: The robot arm is composed of two parallel branches (2, 3) formed from a reduced number of segments (5, 6, 7) and connected to each other by a wrist (5) through a wrist holder (8), the directions of which are kept approximately constant by transmissions (12 to 16). The working space of this control arm is large and it is free of any kinetic singularities except at the end positions, and good decoupling of translation and rotation movements is achieved.

Inventors: Gosselin; Florian (Fontenay aux Roses, FR), Riwan; Alain (L'Hay les Roses, FR)

Assignee: Commissariat a l'Enegie Atomique

International Classification: B25J 17/00 (20060101)

Expiration Date: 8/08/02018