Patent ID: 8783127

Claim:
A parallel-kinematical machine comprising: at least three setting devices which can be lengthened and shortened individually, a positioning head, at least three first joints, each setting device being connected to the positioning head via a corresponding one of the at least three first joints, a base, at least three universal joints, each setting device being connected to the base via a corresponding one of the at least three universal joints, the positioning head being movable within a working range in response to changes in length of one or more of the setting devices, at least two movable reinforcing beams, at least two beam rotation bearings, each movable reinforcing beam being connected to the positioning head via a corresponding one of the at least two beam rotation bearings, each beam rotation bearing having solely one degree of freedom of movement, at least two beam bearings, each movable reinforcing beam slidable in a corresponding beam bearing transversely with respect to the base when one or more of the setting devices is lengthened or shortened, and at least two beam-universal-joints, each movable reinforcing beam and its corresponding beam bearing being mounted in the base via a corresponding beam-universal-joint, the corresponding beam-universal-joint of at least one of the movable reinforcing beams including a corresponding outer gyro element rotatably mounted in the base and a corresponding inner gyro element rotatably mounted in the outer gyro element, the inner gyro element being rotatable about an inner gyro axis and the outer gyro element being rotatable about an outer gyro axis, and the corresponding beam bearing of the at least one of the movable reinforcing beams (a) being rotatably connected via a tilt apparatus to the corresponding inner gyro element, the corresponding beam bearing and the at least one of the movable reinforcing beams being (b) rotatable about the inner and outer gyro axes and rotatable within the inner gyro element, so as to be (c) partly rotatable with respect to the inner gyro element, and thus the base, about an axis that parallels the longitudinal axis of the movable at least one reinforcing beam as the at least one movable and rotatably connected reinforcing beam slides transversely in its corresponding beam bearing to move with the positioning head when one or more of the setting devices is lengthened or shortened to thereby move the positioning head within the working range.