FIELD: robotics.
SUBSTANCE: invention relates to robotics and can be used in multi-position machining centers, on assembly lines and in multifunctional technological units. The manipulator contains a support base, a movable actuator with a rotary drive and working bodies. The executive device is made in the form of structural modules kinematically interconnected, assembled in one plane into a closed kinematic chain. The kinematic chain consists of closed triangular contours, each of which is formed from six identical double-hinged links. At the ends of the links, there are cylindrical hinges with perpendicular axes of rotation. Each side of the closed loop consists of two double-hinged links. Working bodies are installed on structural modules.
EFFECT: invention simplifies the design and assembly of the manipulator and expands its working area.
9 cl, 9 dwg
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