SYMMETRICAL PLATFORM MANIPULATOR WITH THREE DEGREES OF FREEDOM Russian patent published in 2022 - IPC B25J1/02 

FIELD: mechanical engineering.

SUBSTANCE: invention relates to mechanical engineering, in particular, to parallel-structure platform mechanisms. Manipulator comprises a support base, by means of a toggle apparatus interlocked with a mobile platform interacting with the working body. The toggle apparatus is made in the form of a set of three structural modules evenly arranged along the perimeter of the movable platform, wherein each of the modules is composed of one three-hinged connecting lever and three two-hinged connecting levers attached thereto, interlocked by means of cylindrical hinges with parallel axes of rotation to assemble the closed multiloop kinematic chain of the manipulator. Each of said structural modules is made in the form of a series assembly with the mobile platform of one three-hinged connecting lever and three two-hinged connecting levers, wherein said levers, between each other and with the support base, form a hinged parallelogram, or a hinged antiparallelogram, or a hinged five-link with a driven rotary or a rectilinear kinematic pair.

EFFECT: structural simplification, expansion of the workspace, and simplification of the control system of the working body due to the separate kinematics of all movements thereof.

5 cl, 9 dwg