CIRCULAR SPATIAL SPHERICAL MANIPULATOR Russian patent published in 2021 - IPC B25J1/10 

FIELD: mechanical engineering.

SUBSTANCE: invention relates to mechanical engineering, in particular to robotics, namely to the spatial manipulation mechanisms of robots with spherical movement of working bodies, and can be used in automatic lines, assembly conveyors, surgical medicine, processing centers and technological installations. A circular spatial spherical manipulator contains a support base and a movable actuator mounted on it in the form of a closed kinematic chain made up of radially curved articulated connecting levers, sequentially installed among themselves during their assembly along the circumference and kinematically connected to each other and to the lead drive shaft by means of cylindrical hinges. The hinge axes intersect in the center of the spherical surface to simultaneously move several working bodies along it, which are fixed on the said radially curved levers.

EFFECT: simplifying the design, reducing the spatial dimensions, expanding the working space and simplifying the control system due to the drive from one engine of several working bodies making a spherical movement in different working spaces.

1 cl, 9 dwg