FIELD: mechanical engineering.
SUBSTANCE: invention relates to mechanical engineering, in particular, to platform mechanisms of a parallel structure, and is applicable in automatic lines, processing centres, and robot manipulators. Spatially flat platform spherical manipulator comprises a support base kinematically linked with a mobile platform and the working body via a toggle apparatus. The mobile platform is linked with the support base via a closed kinematic chain of lever links interconnected through cylindrical hinges containing rotational kinematic pairs with intersecting angular rotation axes. The working body is linked with the mobile platform via a closed kinematic chain of lever links interconnected through cylindrical hinges containing rotational kinematic pairs with parallel angular rotation axes.
EFFECT: structural simplification, simplified control system, and expanded working space and functionality of the manipulator with a higher number of degrees of freedom of the working body.
7 cl, 3 dwg
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