FIVE-MOVABLE SPATIAL MECHANISM WITH DRIVE REDUNDANCY Russian patent published in 2024 - IPC B25J11/00 

FIELD: robotics.

SUBSTANCE: invention relates to robotics and can be used in mechanical systems of parallel structure. Five-way spatial mechanism comprises a post, a platform and an output element, wherein the post and the platform are connected to each other by four kinematic chains, each of which consists of a guide rigidly fixed on the post, a slider located on the guide with possibility of movement along it, and a bar connected to the slider and the platform by means of spherical hinges, wherein slides of two of said four kinematic chains are double-paired. Mechanism is equipped with a lever connected to the platform by means of rotary hinges, and slides of other kinematic chains are made three-pair and each of them is equipped with additional kinematic chain, including upper crosspiece, a yoke connected by means of rotary hinges with a three-pair slider and with an upper crosspiece, a lower crosspiece connected by means of a rotary hinge to the corresponding end of said lever, and a rod connected by means of rotary hinges to the upper and lower crosspieces, wherein the outlet member is rigidly fixed on the lever.

EFFECT: use of the invention makes it possible to expand technological capabilities of the mechanism.

1 cl, 1 dwg