摘要
该专利的受让人是Cognibotics AB(Lund,S Weden)，专利号为12134187.记者从发明人提供的背景资料中获得以下引述：“例如，在人与机器人直接合作时，以及在使用无栅栏机器人装置具有优势时，需要高安全性的装置。”运动学机器人（如WO1987003528A1中描述的Delta机器人），具有所有的定位器安装在固定支架上，因此可以获得重量轻的结构。然而，这些并联机器人都存在手臂系统占据很大空间的弊端因此，相对于ARM系统所需的空间，工作速度非常小。作为与此相反，这些机器人只能用于手臂有较大空间的应用系统的工作空间非常有限，特别是在垂直方向。因此，Delta机器人主要用于在平面上的拾取和放置操作，如输送机机器人手臂结构有足够的空间。
Abstract
The assignee for this patent, patent number 12134187, is Cognibotics AB (Lund, S weden).Reporters obtained the following quote from the background information supplied by the inventors:“High safety installations are needed for example at direct co llaboration between human and robot and when it is an advantage to use fenceless robot installations. Looking at the state of art, there are parallelkinematic robots (as the Delta robot described in WO1987003528A1), which have all the actu atorsmounted on a fixed stand and where it is therefore possible to obtain a li ghtweight structure. However,these parallel kinematic robots have the disadvant age that the arm system occupies a very large spaceand that therefore the works pace is very small in relation to the space needed for the arm system. As acons equence, these robots can only be used for applications where a large space is a vailable for the armsystem and where it is sufficient to have a very restricted workspace, especially in the vertical direction.Thus, the Delta robot is mainl y used for pick- and place operations above a flat surface such as a conveyorbe lt with plenty of space for the robot arm structure.
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