SPATIAL PARALLELOGRAM MECHANISM OF MANIPULATOR Russian patent published in 2022 - IPC B25J1/00 F16H21/26 

FIELD: mechanical engineering.

SUBSTANCE: invention relates to the field of mechanical engineering, in particular to hinged parallelogram mechanisms of a parallel structure, and can be used as a drive for platform manipulators, automatic lines, technological assembly devices, precision measuring systems and surgical robots. The spatial parallelogram mechanism of the manipulator comprises a base and rotary cranks of the same length pivotally connected to it and parallel to each other, kinematically connected to each other by means of a connecting rod. At the same time, it is made in the form of parallelograms movably connected to each other, and the rotary cranks are made in the form of plates with flat ends bent parallel to each other with holes located on them offset from each other for installing cylindrical hinges. The connecting rod is made in the form of a main movable platform connected to the base by rotary cranks through cylindrical hinges with axes of rotation located perpendicular to the base and the main movable platform.

EFFECT: simplification of the design and control system, as well as expansion of functionality and working area.

10 cl, 4 dwg