SPATIAL MECHANISM WITH THREE INCREMENTAL DEGREES OF FREEDOM Russian patent published in 2012 - IPC B25J1/00 

FIELD: machine building.

SUBSTANCE: invention relates to machine building, in particular, to robotics. Spatial mechanism includes foundation, output link, three kinematic chains each of which contains input rotator, three intermediate rotators and end rotator. Note that rotators in each chain are divided into two groups of two and three rotators correspondingly, axes of which are parallel to each other and perpendicular to axes of rotators of other group. Axis of second intermediate rotator is perpendicular to axis of input rotator and axes of input rotators are located orthogonally each other and parallel to axes of Cartesian coordinate system. Axis of first intermediate rotator in each axis is located perpendicular axis of input rotator with crossing their axes. And axis of third intermediate rotator and axis of end rotator are arranged parallel to axis of input rotator.

EFFECT: increase of efficiency and reliability of handlers in space along three coordinates.

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