FIELD: robotics.
SUBSTANCE: invention relates to robot manipulators with platform mechanisms of parallel structure and can be used in multi-position machining centers, automatic assembly lines, devices for volumetric processing of internal surfaces of large-sized parts and cleaning of pipelines. Manipulator-tripod comprises kinematically interconnected stand, drive platform and additional link connected to stand. Additional link is a movable support base made in the form of a hollow polyhedral prism. Structural modules are installed on the side faces of the prism, each of which is made in the form of a movable platform with a separate working member, pivotally connected to one of the side faces of the prism through three crank or rocker arms of the same length, forming between themselves double hinged parallelogram with parallel axes of all cylindrical hinges. One of said levers can be driven by a rotary motor installed inside the hollow prism.
EFFECT: simplified design, increased number of degrees of freedom and working space.
10 cl, 6 dwg
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