FIELD: robotics, possibly manipulators for rotating object to be handled according to two separate angular coordinates, constructions of three-dimensional multi-coordinate manipulators.
SUBSTANCE: articulation joint assembly of manipulator includes two driving links. Each driving link is joined with base and with respective driven link through rotating kinematics pairs. Driven links are joined through rotating kinematics pair; one of driven links is outlet link. Axes of all rotating kinematics pairs cross in center of articulation joint assembly. The last also includes additional supporting spherical kinematics pairs formed by joining of concave surfaces of driving links with convex surfaces of driven links. Axes of kinematics pairs joining each driving link with base are arranged in one straight line.
EFFECT: improved rigidity, loading capability, kinematics accuracy of articulation joint assembly.
3 cl, 4 dwg
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