PARALLEL MANIPULATOR WITH THREE DEGREES OF FREEDOM

摘要

FIELD: robotics. ;SUBSTANCE: invention relates to robotics and can be used in surgical medicine, in processing centers and automatic lines in mechanical engineering. The manipulator contains a support base, kinematically connected by means of a hinge-lever device to the output link. The hinge-lever device is made in the form of a multiple hinged parallelogram, consisting of three hinged parallelograms located in the same plane and connected by means of rotational kinematic pairs. The first parallelogram is formed by a support base and two cranks connected by a connecting rod, forming a second hinged parallelogram with two cranks and a connecting rod. One crank of the second parallelogram forms a third hinged parallelogram with the connecting rod, which is pivotally connected to it by means of two cranks. The kinematic rotational pair of each parallelogram is connected to the drive. ;EFFECT: the design is simplified and the dimensions of the manipulator are reduced, and its operational efficiency is increased due to the separate kinematics of the control of several working bodies. ;7 cl, 4 dwg