Abstract: A manipulator has a manipulator arm with a manipulator flange at one free end. The flange holds an end effector having an application device for machining a workpiece. The manipulator flange is rotatable about hand axes. A first hand axis extends in the direction of the longitudinal axis of the manipulator arm, a second hand axis extends transversely to the first hand axis and a third hand axis extends transversely to the second hand axis. The hand axes intersect at a common intersection point. A machining force acting on the application device is diverted into the manipulator arm by way of the end effector. So that process forces during a mechanical operation do not lead to impairment of the machining pose of the manipulator arm, provision is made to fix the application device to the manipulator flange at an attachment angle to the first hand.

Abstract: The invention relates to a manipulator having a manipulator arm (5) at the one free end (6) of which a manipulator flange (8) is provided on which an end effector (46) having an application device (9) for machining a workpiece (37) is held. The manipulator flange (8) is rotatable about hand axes (20, 21, 22). A first hand axis (20) extends in the direction of the longitudinal axis (18) of the manipulator arm (5), a second hand axis (21) extends transversely to the first hand axis (20) and a third hand axis (22) extends transversely to the second hand axis (21), wherein the hand axes (20, 21, 22) intersect one another in a common intersection point (26). A machining force (33) acting on the application device (9) is diverted into the manipulator arm (5) by way of the end effector (46).

Abstract: The invention relates to an operating method for a positioning system 1, in particular for the structural assembly of aircraft, wherein the positioning system 1 comprises a plurality of positioners 2a, 2b, 2c, each of which has at least one manipulator M. The manipulators M grasp a component B and manipulate it in a synchronized manner, while it is jointly grasped by the manipulators M.