Patent ID: 7685902

Claim:
An industrial robot, comprising: a parallel kinematic manipulator for movement of an object in space, the manipulator comprising a stationary platform, a movable platform for carrying the object, at least three arms operatively connecting the stationary platform and the movable platform, each of the at least three arms comprising a first arm part and a second arm part, each first arm part being independently and operatively connected to the stationary platform in a different horizontal plane for rotation around an axis, wherein each axis that the first arm parts rotate about is parallel, each second arm part comprising a link arrangement operatively connecting the first arm part to the movable platform, at least one of the link arrangements comprising at least two links each pivotably connected to the first arm part and the movable platform, each second arm part only transmitting forces along its longitudinal axis to the movable platform, each first arm part of one of the arms being separately actuated to bring the object to be manipulated into rotation about the stationary platform.