Manipulador paralelo 3XXRRU com tres pernas e seis graus de liberdade com volume de trabalho ampliado

The present application relates to a new robot with a new mechanical structure. This robot is classified as a parallel robot, commonly used in industry in pick and place tasks and tooling. The robot is made up of three legs that connect the end effector (moving platform) to the base, resulting in six degrees of freedom. The manipulator has chains of XXRRU (R -rotary joint; U - universal joint) coupled to the end effector, the XX chains coupled to the base can be adapted according to the application needs, such as RR, PP, RP or PR (P - prismatic joint) or any parallel mechanism that generates the actuation movement XX. Commonly six-parallel robots degrees of freedom have six legs, acting in each, in this invention only 3 legs with two actuations on each are necessary to obtain the six degrees of freedom in the end effector. Still, the action remains at the base considering the activation takes place through the XX chain or the parallel mechanism that generates movement XX.