Patent ID: 8181551
Filing Date: 2012-05-22
Classification: B25J,Y10T

Abstract:
1. A device for moving and positioning an object in space, comprising: at least three actuating arms that are each connected to a motor/transmission unit and are pivotable around a transmission axis; a support element provided for arranging at least one gripping mechanism for gripping the object; each actuating arm having, at its free end, a first articulation axis extending parallel to the transmission axis, with first joint parts spaced apart from each other, each belonging to a respective first ball joint; the support element having a second articulation axis associated with each actuating arm, with first joint parts spaced apart from each other, each belonging to a respective second ball joint; the first articulation axis being connected to the second articulation axis by a pair of connecting rods that have second joint parts at their ends and, together with the first joint parts on the first articulation axis and the first joint parts on the second articulation axis, these second joint parts at the ends of the connecting rods form the first ball joint and second ball joint, and the connecting rods are connected to each other in order to stabilize the ball joints, wherein the actuating arms are electrically insulated in relation to one another, and the connecting rods, the joint parts of the ball joints, and either the support element or an electrical conductor strip constitute electrically conductive or signal line-equipped components of a monitoring circuit, wherein the monitoring circuit extends from one actuating arm via the connecting rods, the joint parts of the ball joints, and the support element or the electrical conductor strip, to the two other actuating arms.