FIELD: manipulators.
SUBSTANCE: invention relates to space manipulators with several degrees of freedom and can be used in machine building and medicine. Manipulator comprises support base and movable platform, pivotally connected to each other by means of rod movable supports installed between them with formation of closed multi-circuit kinematic chain. Support base and movable platform are made in form of equilateral triangles turned relative to each other by angle β=60°. Each of vertices of movable platform is hingedly connected to two adjacent vertices of support platform through connection of each pair of six rod movable supports by means of double spherical hinges with common axis of their rotation with formation of three-way closed contours of spatial mechanism.
EFFECT: as a result, the manipulator working area expands, and the stiffness and accuracy of its positioning is increased by closing all links of the manipulator in three-sided rigid closed contours in its whole chain.
3 cl, 4 dwg
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