Patent ID: 8734083

Claim:
A tooling device for connecting to a manipulator, comprising: a base unit having guide rails; at least two manipulator modules each with a first and a second end, wherein at least one degree of freedom in movement is provided between both ends of each manipulator module through a parallelogram-shaped truss structure directly or indirectly connected to a skid on the first end, the first end of each manipulator module is connected with the base unit through the skid, and the at least one manipulator module is moveable along the guide rail via the skid; at least one actuator for each manipulator module is configured to drive a tilting motion of the parallelogram-shaped truss structure and realize the at least one degree of freedom for an associated manipulator module, wherein the at least one actuator is mounted on the truss structure and coupled to the skid via a spindle drive; and a tool interface is provided at the second end of each manipulator module, wherein the tool interfaces are moveable independently from each other relative to the base unit; wherein at least one manipulator module is linearly moveable on its first end relative to the base unit.