3D SPHERICAL MECHANISM WITH THREE DEGREES OF FREEDOM Russian patent published in 2012 - IPC B25J1/00 

FIELD: process engineering.

SUBSTANCE: invention relates to robot 3D manipulators with three degrees of freedom. Proposed manipulator comprises base frame unit, output link, three trains each including rotary driving apparatus arranged on said base frame unit, and initial rotary train arranged perpendicular to axis of said apparatus. Note here that two trains comprises two intermediate hinges arranged parallel to initial hinge axis, and final hinge arranged perpendicular to second intermediate hinge axis and coupled with output link. Third train comprises final hinge arranged perpendicular to initial train axis. Note also that axes of all apparatuses are located to cross as the center Cartesian system with axes, x, y and z.

EFFECT: higher efficiency.

1 dwg