MANIPULATOR Russian patent published in 2002 - IPC

FIELD: robotics, possibly manipulators with members performing rotation along complex spherical paths. SUBSTANCE: manipulator includes two jointly secured links. First link is in the form of detachable base, it has inner spherical seat and circular guide. Second link is in the form of carriage arranged in the same circular guide and supporting drive units and grip; said drive units are rotation drive and rocking drive units. Grip is joined with rotation drive unit through transmission and it may be shifted along its rotation axis passing through center of spherical seat. Grip may be vacuum type, magnetic or mechanical. Mechanical grip may be in the form of pipe of elastic or resilient material. Manipulator allows to approach different points on outer surface of part to technological tool. EFFECT: improved design. 5 cl, 8 dwg