TRIPOD MANIPULATOR WITH SIX DEGREES OF MOVEMENT Russian patent published in 2010 - IPC B25J9/00 

FIELD: machine building.

SUBSTANCE: invention refers to machine building, namely to manipulators for performing the operations related to the change of position of the item, workpiece, etc. in space. Manipulator contains movable platform with working member and three rotation supports the axes of which form trihedral angle equal to trihedral angle formed with rotation axes of output shafts of drive units, three identical parallel kinematic circuits of drive of movement and orientation of working member. Each circuit consists of two universal hinges (UH) connected with intermediate shaft. Inner axes of UH crosspieces are parallel, outer axes of UH crosspieces at inputs of kinematic circuits are connected to outlet shafts of drive units, and outer axes of UH crosspieces at outputs of kinematic circuits form the hinge with rotation supports on movable platform. On movable platform there installed is orientation mechanism of working member the drive shafts of which are installed in rotation supports and hinged to outer axis of crosspieces at output of kinematic circuits. On outer axes of crosspieces of two UH of each kinematic circuit there installed at equal distances from UH centres are two rotation hinges with axes parallel to inner axes of UH crosspieces. Axes are connected by rigid link the length of which is equal to distance between centres of UH crosspieces.

EFFECT: invention simplifies programming of tripod manipulator with six degrees of movement.

5 cl, 3 dwg