Miniature Tripod with Parallel Kinematics for Use in Clean Room Medical Laboratory Applications

The paper presents the structure of a precise parallel tri-axle manipulator with the functionality of progressing-tilting table. The end effector of the device is a platform, for which three coordinates of position are defined. The manipulator has three degrees of freedom: movement perpendicular to the base and rotation in two mutually perpendicular axes contained in the surface parallel to the base.The concept of the positioning mechanism is based on parallel tripod kinematics where the end effector – the platform – is seated on three active limbs – actuators. The use of parallel kinematics allowed modular construction of the positioning mechanism. The developed modular functional mechanism with minimal number of elements in kinematic chain ensures high positioning resolution. The concept of application of eccentric mechanism for platform positioning is an original idea in this solution. The compact construction allows applying the manipulator in medical devices that require meeting of the hygienic conditions in the medical test and research laboratories. The possibility of the utilisation of the precise manipulator covers wide areas of science and technology where precise positioning of the object is required, e.g. sample positioning for microscopes, scanning systems.