THREE MOVEMENT RECONFIGURABLE SPHERICAL MECHANISM WITH CIRCULAR GUIDE Russian patent published in 2023 - IPC F16H21/00 

FIELD: mechanical engineering.

SUBSTANCE: invention relates to mechanical systems of parallel design. A three-moving reconfigurable spherical mechanism with a circular guide includes a rack in the form of a circular guide with teeth cut on it and a platform between which three kinematic chains are installed, including carriages with gears and levers coupled to each other by rotational hinges. In each kinematic chain between the lever and the platform, a connecting rod and a pin are installed by means of rotational hinges. The geometric axes of the rotational hinges between the carriage and the lever, the lever and the connecting rod, the connecting rod and the pin in each kinematic chain are parallel to each other. An additional kinematic chain is installed in the centre of the circular guide, consisting of a rod and a rod rigidly coupled to the platform. The rod forms a translational hinge with a circular guide, and a spherical hinge with a rod. The axes of the rotational hinges between the fingers and the platform intersect at the centre of the spherical hinge.

EFFECT: expansion of the field of application.

1 cl, 1 dwg