TWO DEGREE-OF-FREEDOM PARALLEL MANIPULATOR

The invention refers to a two degree-of-freedom parallel manipulator that comprises a frame (1), four frame arms (3, 3', 4,4' ), four platform arms (5, 5', 5", 5"'), each frame and platform arm (3, 3', 4, 4',5,5', 5", 5''') with a first end and a second end, a platform (6) and a end-effector, being the first end of each frame arm (3, 3', 4, 4') linked to the frame (1) and being the second end of each frame arm (3, 3', 4, 4') linked to a first end of a platform arm (5, 5', 5", 5'"), being the second end of each platform arm (5, 5', 5", 5"') linked to the platform (6), and being the platform (6) linked to the end-effector. ln said manipulator a first platform arm (3) and a second frame arm (3') are actuated independently one from the other and a third frame arm (4) and a fourth trame arm (4') are linked to the trame (1) with revolute joints (8), being the rotation ot the third and fourth trame arms (4,4') coupled. Said first and second trame arms (3, 3') and third and fourth frame arm (4, 4' ) are contained in two different planes, being said planes orthogonal.