US Patent 7637710 Industrial robot

An industrial robot for moving an object in space comprising a stationary platform, a movable platform arranged for supporting the object, and a first, a second and a third arm to which the platforms are joined. The first arm comprises a first actuator, a first supporting arm influenced by the first actuator and being rotatable around a first axis, and a first linkage. The second arm comprises a second actuator, a second supporting arm influenced by the second actuator and being rotatable around a second axis, and a second linkage. The third arm comprises a third actuator, a third supporting arm influenced by the third actuator and being rotatable around a third axis, and a third linkage. The first and third axes are arranged in parallel and the second supporting arm is freely journalled around a transverse axis that is substantially arranged at right angles to the second axis.