FOLDING SYMMETRICAL MANIPULATOR MECHANISM Russian patent published in 2024 - IPC B25J1/00 

FIELD: machine building.

SUBSTANCE: invention relates to mechanisms of manipulators with several degrees of freedom and can be used in machine building and medicine as a drive of working elements with a variable trajectory, for example, in excavators-loaders, antennae of reflectors, automatic lines and processing centers for group technological operations. Folding symmetrical mechanism of manipulator contains support base and drive device of kinematic connection of support base with actuating working elements. Driving device of the kinematic connection is made in the form of a hinged six-link with hinged structural modules arranged in series inside it along the vertical axis of symmetry. One of the structural modules is made in the form of kinematically interconnected two triangular links, and the other structural module is made in the form of a hinged four-link link, links of which are connected to each other through cylindrical hinges with mutually parallel axes of rotation and during their assembly form a four-rod parallelogram or antiparallelogram.

EFFECT: simplified design, reduced number of drive motors, as well as a reduction in size.

9 cl, 11 dwg