ROBERT, Rene,ZITNICK, David Allen,CAMERON, Peter John Kenneth,FARIA, Leonard M.,BAJO, Andrea
申请号：
ES13887243
公开号：
ES2639100T3
申请日:
2013.12.20
申请国别(地区):
ES
年份:
2017
代理人:
摘要：
A positioning apparatus articulated tool, the apparatus comprising: an element (22) base, an intermediate element (24), an element (26) end and a first support (28) of tool disposed in succession, each said elements base, intermediate element and end element toolholder having a central opening (72) respectively a first plurality (30) of guides coupled between the base member and intermediate member in which at least one (32) of said first plurality of coupled guides is coupled to the base member and at least one (34) of said first plurality of coupled guides is coupled to the intermediate element and wherein each guide coupled said first plurality of guides coupled having an opening (152) respective center a second plurality (36) of guides coupled between the intermediate element and end element in which at least one (38) of said second plurality of coupled guides is coupled to the intermediate element and at least one (40) of said coupled second plurality of guides is coupled to the end member and wherein each guide coupled of said second plurality of guides coupled has a central opening (152) respectively a third plurality (42) of guides coupled between the end member and the tool holder in which at least one (44) of said third plurality of coupled guides engages the end member and at least one (46) said third plurality of coupled guides engages the tool holder and in which each guide coupled of said third plurality of guides coupled has a central opening (152) respectively first openings (80, 82, 84, 86) guide in said base member and corresponding to first openings (160, 162, 164, 166) generally aligned guide each guide coupled said first plurality of coupled guides a first plurality of links (88, 90, 92, 94) flexible control arranged in spaced relationship and which extend through respective apertures of said first guide opening and said base member and through respective apertures of said first openings parallel corresponding to said first plurality of coupled
