PARALLEL MANIPULATOR WITH THREE DEGREES OF FREEDOM Russian patent published in 2021 - IPC B25J3/02 

FIELD: robotics.

SUBSTANCE: invention relates to robotics and can be used in surgical medicine, in processing centers and automatic lines in mechanical engineering. The manipulator contains a support base, kinematically connected by means of a hinge-lever device to the output link. The hinge-lever device is made in the form of a multiple hinged parallelogram, consisting of three hinged parallelograms located in the same plane and connected by means of rotational kinematic pairs. The first parallelogram is formed by a support base and two cranks connected by a connecting rod, forming a second hinged parallelogram with two cranks and a connecting rod. One crank of the second parallelogram forms a third hinged parallelogram with the connecting rod, which is pivotally connected to it by means of two cranks. The kinematic rotational pair of each parallelogram is connected to the drive.

EFFECT: the design is simplified and the dimensions of the manipulator are reduced, and its operational efficiency is increased due to the separate kinematics of the control of several working bodies.

7 cl, 4 dwg