Patent ID: 6952978

Claim:
Device for guiding a working element with two degrees of mobility comprising: a base, a first movable link comprising a first extreme and a second extreme, a second movable link comprising a first extreme and a second extreme, a first motor being housed in the base and connected kinematically with the first extreme of the first movable link by means of a first articulation, a first guiding element which guides the first extreme of the first movable link along trajectories situated over a first straight line determined by said first guiding element, a second motor also being housed in the base and connected kinematically with the first extreme of the second movable link by means of a second articulation, a second guiding element which guides the first extreme of the second movable link along trajectories situated over a second straight line determined by said second guiding element and being parallel to the first straight line, a third articulation which connects kinematically the second extremes of the first and second movable links, said second extreme of the first movable link being furthermore connected to the working element, and a control algorithm for the first and second motors which controls speed and direction of each of the first extremes of the first and second movable links; in order to accomplish a closed and therefore robust kinematic train formed by a triangle defined by the base and both first and second movable links which guides said working element with two degrees of mobility; wherein the first and second guiding elements are arranged making coincide the first and second straight lines determined by said guiding elements in a unique same straight line over which the trajectories of both first extremes of the first and second movable links are situated; said arrangement of the first and second guiding elements having been provided in order to enable to simplify the control algorithm of the first and second motors, since said arrangement of the guiding elements enables to move the working element parallely to the base by simply acting the first and second motors with a same speed and direction, also enabling to move the working element perpendicularly to the base by acting the first and second motors with a same speed and opposite directions.