SPATIAL MECHANISM FOR MICROPOSITIONING Russian patent published in 2018 - IPC B25J1/00 

FIELD: positioning devices.

SUBSTANCE: invention relates to mechanisms used in the technique for obtaining a given motion of the output link. Spatial mechanism for micropositioning contains a circular guide mounted on the base, an output link, six kinematic chains connecting six carriages mounted on a circular guide and an output link. Kinematic chains are made in the form of rigid rods, connected at one end by means of a hinge with movable carriages, and the other ends, pairwise from adjacent carriages, are coupled with an output link by means of double-sided hinges. On the base, in the center of the circular guide, a rotating gear cylindrical wheel is installed, on the axis of which radial connecting rods with carriages are assembled. Kinematic chain is mounted between the central gear wheel and each carriage in the radial direction, including a driven gear wheel which is in engagement with the central gear wheel, which is integral with the driving pulley of the flexible belt drive. Crank is mounted on the driven pulley, coupled with a connecting rod, which is located movably on a horizontal thrust.

EFFECT: invention provides the ability to control the movement of the output link with a single drive.

1 cl, 4 dwg