FIELD: machine building.
SUBSTANCE: invention relates to mechanisms used in engineering to obtain a given movement of an output link, and can be used, in particular, in medicine when performing laparoscopic operations. Mechanism contains a post, a crank, a screw con-rod, a nut with a rod rigidly installed on it and a balance arm. Mechanism is equipped with additional con-rod and rocker, which form a rotary kinematic pair, and an output link with a device for gripping and holding the object, which enters a translational kinematic pair with an additional connecting rod and a spherical kinematic pair with a rod rigidly mounted on the nut. At that axes of kinematic pairs between output link and additional connecting rod, additional rocker arm and con-rod, post and additional rocker cross one point. At that, additional connecting rod and rocker are spherical. Besides, appliance for gripping and holding objects is made in the form of gripper.
EFFECT: invention is aimed at expansion of functional capabilities.
1 cl, 2 dwg
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