SPATIAL MECHANISM HAVING FOUR DEGREES OF FREEDOM AND KINEMATIC DECOUPLING Russian patent published in 2012 - IPC B25J1/00 

FIELD: physics, robotics.

SUBSTANCE: invention relates to machine building, particularly spatial handling mechanisms of robots with four degrees of freedom with kinematic decoupling. The spatial mechanism has a kinematic scheme with motors for rotational and vertical displacement and a parallel link mechanism mounted horizontally. The input link of said parallel link is rigidly interfaced with the initial link of the kinematic scheme. There is a second parallel link mechanism whose input link is the output link of the first parallel link mechanism, and its output link is rigidly interfaced with the final link of the mechanism. In the second and third kinematic schemes, the motors are in form of translational motion motors mounted horizontally with mutually perpendicular axes. Vertically mounted hinges of the second and third kinematic schemes have a common axis.

EFFECT: high technical and operational efficiency of handlers in space.

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