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

FIELD: machine building.

SUBSTANCE: mechanism contains a base, output link, working member, three kinematic chains. Each kinematic chain contains a translational motion motor located parallel to one of orthogonal axes of coordinates, initial rotational kinematic pair, the axis of which is located perpendicularly to the axis of the respective translational motion motor, articulated parallelogram, the initial link of which one is mated with the axis of the respective initial rotational kinematic pair, and the rotational kinematic pairs of the articulated parallelogram are located perpendicularly to the axis of the initial rotational kinematic pair, the end rotational kinematic pair, the axis of which is mated with the axis of the end link of the articulated parallelogram, end segment of the kinematic chains conjugate with the output link of the mechanism.

EFFECT: improvement of reliability and overall performance of the device is ensured due to that rotational motions are transmitted through the parallelogram mechanism, instead of crank-shaft.

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