SIX-MOVABLE SPATIAL DEVICE OF PARALLEL STRUCTURE OF RELATIVE MANIPULATION Russian patent published in 2023 - IPC F16H21/00 

FIELD: mechanical engineering.

SUBSTANCE: mechanical systems of relative manipulation. The six-movable spatial device of the parallel structure of relative manipulation includes a rack and a platform, between which kinematic chains are installed. The chains consist of guides rigidly fixed on the rack, as well as three-pair sliders and rods. The device 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 device 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 and include carriages with gears, lower forks, connecting rods and upper forks. One chain is located in the center and includes a fixed rod and a U-link. The lower forks form rotational hinges with the carriages, and the upper forks form a rigid connection with the movable plate.

EFFECT: expansion of the scope of application.

1 cl, 1 dwg