SPATIAL MECHANISM Russian patent published in 2010 - IPC B25J1/00 

FIELD: machine building.

SUBSTANCE: invention refers to machine building, namely to spatial manipulator mechanisms of robots with six degrees of freedom. Spatial mechanism includes base, outlet link, three connection kinematic chains, each of which includes rotary movement drive and translational movement drive, which are installed with parallel axes, inlet chain, intermediate chain and two pivots the axes of which are located with intersection at one point of outlet link. Each connection kinematic chain is equipped with two in-series installed parallel link mechanisms located in planes perpendicular to axes of the appropriate drives. Initial link of the first parallel link mechanism is connected to inlet link of the appropriate chain in the centre of the above initial link. Final link of the first parallel link mechanism is combined with initial link of the second parallel link mechanism. Final link of the second parallel link mechanism is connected in its centre to intermediate link the axis of which is installed parallel to axes of drives of the appropriate kinematic chain and with intersection of axes of all pivots at one point.

EFFECT: increasing technical and operating efficiency of space manipulation along six coordinates.

2 cl, 1 dwg