DEVICE FOR SPATIAL ORIENTATION OF OBJECTS Russian patent published in 2018 - IPC B25J11/00 

FIELD: manufacturing technology.

SUBSTANCE: invention relates to mechanisms used to obtain a given motion of the output link. Device comprises a rack in the form of a closed circular guide, an output link, six kinematic chains containing each carriage mounted for movement along a circular guide, and an intermediate link. Kinematic pairs connecting the intermediate links with the carriages and the output link are spherical. Device is equipped with a central disk, made in the form of a cylindrical gear and connected with the stand by means of a central rotational kinematic pair. Kinematic chain is equipped with a driving gear, made in one piece with the driving disk, which is connected by means of a flexible connection with the driven disk, on which a crank is rigidly mounted, which forms a rotational kinematic pair with a corresponding stone, which is part of a forward kinematic pair, with an initial link mated with a central disk of a rotational kinematic pair, and rigidly connected to the corresponding carriage. Driving gear and the driven disk form rotational kinematic pairs with vertical axes with the support.

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

1 cl, 4 dwg