FOLDING MECHANISM WITH SIX DEGREES OF FREEDOM Russian patent published in 2020 - IPC B25J11/00 

FIELD: machine building.

SUBSTANCE: invention relates to mechanical systems of parallel structure used in engineering to obtain a given motion of an output link. Folding mechanism comprises a post in the form of a closed circular guide and an output link in form of a platform, connected to each other by three kinematic chains, each of which comprises a carriage with a drive, mounted on the circular guide, an intermediate link with a drive and a rod connected to the intermediate link by means of a rotary hinge, and with a platform – by means of a spherical hinge. In each kinematic chain, the carriage and the intermediate link form a rotary hinge, the axis of which passes through the center of the circular guide, and the axis of the intermediate link drive shaft is perpendicular to the axis of the carriage drive shaft, at that, the rods are curvilinear.

EFFECT: technical result obtained using the invention consists in creation of a compact design of the mechanism, in which the intermediate links and rods do not extend beyond the perimeter of the circular guide, which contributes to wider areas of use of the present invention.

1 cl, 2 dwg