SPATIAL RELATIVE MANIPULATOR Russian patent published in 2021 - IPC B25J1/00 

FIELD: spatial manipulators.

SUBSTANCE: invention relates to spatial manipulators of a parallel structure and can be used in robotics, automatic lines in mechanical engineering, test benches, assembly lines, processing centers and technological installations for displacement between two moving objects and different working bodies in the working space. The spatial manipulator of relative manipulation contains a support base and a movable actuator is installed on it, made in the form of two paired movable platforms interconnected through a multi-movable rotary joint and connected to the support base by means of movable rod supports connected to the paired movable platforms through spherical hinges with three degrees of freedom.

EFFECT: simplification of the design and control system of the separate kinematics of paired platforms in an extended working space, with the implementation of rotation around parallel axes, translational and plane-parallel movement of objects while maintaining their specified orientation (horizontal, vertical, angular).

10 cl, 8 dwg