SPATIAL MECHANISM WITH FOUR DEGREES OF FREEDOM Russian patent published in 2014 - IPC B25J1/00 

FIELD: machine building.

SUBSTANCE: spatial mechanism contains base, output link, working element kinematically linked, with the output link, three kinematic chains, each chain has translational movement motor, initial rotating kinematic pair, articulated parallelogram, end rotating kinematic pair, end link. One kinematic chain contains rotation motor, its axis is parallel to axis of the appropriate translational movement motor, as well as output rotation kinematic pair connecting the end link of the kinematic chain and output link of the mechanism. The end link of the kinematic chain containing the rotation motor is connected by means of the output rotation kinematic pair with the output link of the mechanism, and is rigidly linked with the working element; and end links of two other kinematic chains are rigidly linked with the output link of the mechanism.

EFFECT: higher reliability and improved technical efficiency of the device.

3 dwg