FIELD: mechanical engineering.
SUBSTANCE: invention relates to the field of mechanical engineering, and more specifically, to manipulators. Six-movable spatial manipulator of parallel-series structure includes a rack on which a frame is mounted by means of four kinematic chains, including dyads with rotational hinges, a carriage coupled to the frame by means of translational hinges, and an output link mounted on the carriage. All four kinematic chains between the rack and the frame are made in the form of dyads with rotational hinges. Between adjacent pairs of dyads, rods are installed, which are included with the frame in rotational hinges, and the frame is made sliding. The carriage is associated with a screw mounted on the frame and equipped with a drive. The output link and the carriage form between themselves a rotational hinge, the axis of which is perpendicular to the plane of the frame.
EFFECT: increase in work space.
1 cl, 1 dwg
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