FLAT-SPATIAL THREE-PLATFORM MANIPULATOR Russian patent published in 2022 - IPC B25J11/00 

FIELD: mechanical engineering.

SUBSTANCE: invention relates to mechanical engineering, in particular to platform mechanisms of a parallel structure with several degrees of freedom, and can be used in various fields of engineering and surgery as stationary, portable and suspended devices with a given constant orientation of the movable working body throughout the expanded workspace. The flat-spatial three-platform manipulator contains a hinge-lever device for driving the working body, which is made in the form of an assembly of three kinematically interconnected three-hinged links, made in the form of sequentially arranged vertically along the rotating platform, forming a flat closed kinematic chain with a movable platform, and the working platform with a working body fixed to it, connected to the movable platform through a spatial closed kinematic chain, where both of the mentioned kinematic chains contain cylindrical hinges, consisting of rotational kinematic pairs with parallel axes of angular rotation of the connected links.

EFFECT: simplifying the design and control system, expanding the workspace and increasing the number of controlled degrees of freedom to nine, as well as ensuring the constancy of the specified orientation of the working body during its circular translational movement.

10 cl, 4 dwg