SPATIAL MECHANISM Russian patent published in 2010 - IPC B25J9/00 B25J11/00 

FIELD: machine building.

SUBSTANCE: each kinematic chain has driving link conjugated with foundation by means of cylinder kinematic pair, and driven link conjugated with driving link by means of rotating kinematic pair. The first kinematic chain has an output link by means of rotating kinematic pairs conjugated with the driven link of the first kinematic chain and with the second kinematic chain. The second kinematic chain consists of an intermediary link conjugated with the driven link by means of the rotating kinematic pair, the axle of which is parallel to the axle of the cylinder kinematic pair of the second kinematic chain, and conjugated with an output link by means of the rotating kinematic pair, the axle of which is parallel to the axle of the cylinder kinematic pair of the first kinematic chain. Each kinematic chain is driven by means of a two-coordinate revolute-translational mechatronic module.

EFFECT: invention facilitates expanded range of output link turn due to possibility to create passage of region of uncontrolled motion of mechanism by means of implementing turn arresters in one of rotating kinematic pairs of mechanism and also facilitates expanded range of translational displacements of output link.

4 cl, 6 dwg