SPATIAL MECHANISM OF RELATIVE MANIPULATION WITH TWO- AND FOUR-MOVE MODULES OF PARALLEL STRUCTURE Russian patent published in 2023 - IPC F16H21/46 B25J1/00 

FIELD: mechanical engineering.

SUBSTANCE: mechanical systems of relative manipulation. The spatial mechanism of relative manipulation with two- and four-movable modules of a parallel structure includes a rack and a platform, between which kinematic chains are installed, consisting of guides rigidly fixed on the rack, three-pair sliders and rods. The mechanism is equipped with two-pair sliders, while between each two-pair slider and the platform one rod is installed, and the number of kinematic chains is four. In addition, the mechanism is equipped with a movable plate coupled with three kinematic chains with a circular guide with teeth cut on it, rigidly mounted on a rack, where two kinematic chains are located along the perimeter. These chains include bottom brackets with gears, upper and lower arms and connecting rods. The third chain is located in the centre and includes a fixed rod and a fork, and the geometric axes of the rotational hinges between the movable plate and connecting rods intersect in the centre of the rotational hinge between the fork and the movable plate.

EFFECT: expansion of the scope of application.

1 cl, 1 dwg