STRAIGHT GUIDE PRECISE MECHANISM OF MANIPULATOR Russian patent published in 1999 - IPC

FIELD: robotics, namely manipulators of robotized complexes for applying different coats onto flat surfaces. SUBSTANCE: slide is movably mounted in housing and it is jointly connected with one end of rocker arm. Roller is mounted in mean portion of rocker arm and it moves along guiding surface of stationary cam. Said surface is bent towards treated surface and it has radius R=a-d/2, where a is half-length of rocker arm, d is diameter of roller. Cam may have additional circular guiding surface for roller. End portions of said surface may be bent by the same radius as roller radius to side opposite relative to treated surface. EFFECT: simplified design of mechanism, increased range of rectilinear motion of point of terminal module of manipulator, possibility of manipulator motion along straight line passing through point outside of mechanism. 4 cl, 4 dwg