FIELD: machine building.
SUBSTANCE: invention relates to machine building, in particular, to robotics. Spatial mechanism includes foundation, end link, engine of translational motion mounted on foundation, three connecting kinematic chains. Each chain includes input rotating kinematic couple conjugated to vertically mounted straight-line link connected to mechanism end link via intermediate links and spherical kinematic couple. Note that vertically mounted straight-line link in each kinematic chain is conjugated to output link of cylindrical gear connected to engine of translational motion mounted on foundation. Vertically mounted engine of translational motion mounted on foundation is conjugated to vertically arranged input rotating kinematic couples of two connecting kinematic chains. Mechanism is equipped with additional vertically mounted engine of translational motion mounted on foundation conjugated to vertically arranged input rotating kinematic couple of third connecting kinematic chain.
EFFECT: increase of reliability and efficiency of handlers in space along five coordinates.
1 dwg
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