SPHERICAL V-MANIPULATOR Russian patent published in 2020 - IPC B25J1/02 

FIELD: manipulators.

SUBSTANCE: invention relates to spherical manipulators of parallel structure. Manipulator comprises movable closed kinematic connection of platform and driven single-movable rotary pairs, made in form of set of serially installed vertically in parallel horizontal planes of support platform and four movable platforms. Platforms are connected in pairs by means of cylindrical hinges with parallel axes of rotation and in parallel installed between each other rotary levers of equal length. As a result, the manipulator working space extension is provided due to five degrees of freedom of plane-parallel movement of the output platform around intersecting and parallel axes of rotation with complete kinematic decoupling of all partial motions.

EFFECT: simplified control of manipulator and its design due to modular assembly of simple double-hinged levers of equal length with all parallel axes, reduced dimensions of manipulator during storage and transportation due to simple parallel shift between each other of all platforms in horizontal plane without disassembly and assembly of entire structure.

6 cl, 4 dwg