SPACE MECHANISM Russian patent published in 2011 - IPC B25J1/00 

FIELD: machine building.

SUBSTANCE: invention refers to machine building, particularly, to space manipulators and mechanisms of robots with six degrees of freedom. The space mechanism consists of a base, of an output link, of three connecting kinematic chains each containing a drive of rotary motion and a drive of progressive motion mounted on parallel axles, of intermediate link and of two joints, axes of which cross at one point of an output link. Each connecting kinematic chain is equipped with two successively arranged gears with transmission ratio equal to one; gears are positioned in planes perpendicular to axles of corresponding drives. A primary wheel of the first gear is connected with the input link of the corresponding chain. The last wheel of the first gear is conjugated with the primary wheel of the second gear. The final wheel of the second gear is conjugated with an intermediate link. The axle of the latter is installed parallel to axles of the drives of the corresponding kinematic chain and with cross of axes of all joints in one point.

EFFECT: increased technical and operational efficiency of devices of manipulating in space in six coordinates.

2 cl, 2 dwg