Articulated arm robot-type device

An articulated robot including a base, an arm pivotably attached to the base to rotate about a first axis, the arm comprising a first and a second arm element which are attached together in a kinematic chain, the first arm element being mounted on the base and pivoting about a second axis orthogonal to the first axis and the second arm element is pivotably attached to the first arm element to rotate about a third axis parallel to the second axis, a third arm element attached to an end of the kinematic chain, a first linear actuator for pivoting the first arm element about the second axis, which is coupled to the base by a first coupling structure and which is connected to the first arm element, a second linear actuator which pivots the second arm element about the third axis and which is connected to the base, to the first arm element and to the second arm element by a second coupling structure, the first and second linear actuators each including a power spindle drive and a motor driven spindle nut which engages the spindle and comprising a threaded rod which pivots about a pivot axis parallel to the second axis comprising:

• the first coupling structure pivotably connected to the motor driven spindle nut of the first linear actuator by a first universal joint and the second coupling structure is pivotably connected to the motor driven spindle nut of the second linear actuator by a second universal joint;
• the first and second universal joints each having a pivot axis parallel to the second axis and a pivot axis orthogonal to the second pivot axis, the second coupling structure including a first coupling and a second coupling which respectively transmit tensile and compressive forces;
• and
• the first coupling including a rigid triangular structure having corners, the first coupling is mounted at the corners to pivot about an axis so that the first coupling is connected to the spindle nut to pivot about a first pivot axis corresponding to the pivot axis of the second universal joint which is connected to the first arm element to pivot about a second pivot axis and is connected to the second coupling to pivot about a third pivot axis and the second coupling includes a rigid connecting brace with one end of the rigid connecting brace end being connected to the first coupling to pivot about the third pivot axis and with another end of the rigid connecting brace being connected to the second arm element to pivot about a pivot axis.