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 comprises three parallel kinematic schemes. The first scheme comprises motors for rotational and translational movement and parallel link mechanisms. The input link of the second parallel link is the output link of the first parallel link, and the output link of the second parallel link is rigidly interfaced with the final link of the mechanism. In the second and third kinematic schemes, the motors are in form of rotational movement motors vertically mounted on a base and interfaced with the final link by two vertically mounted hinges and intermediate links. Cylindrical hinges of the second and third kinematic schemes interfaced with the final link are rotational-translational and have a common axis coinciding with the final link.

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

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