| 摘要 |
FIELD: machine building. ^ SUBSTANCE: invention refers to machine building, namely to manipulators for performing the operations related to the change of position of the item, workpiece, etc. in space. Manipulator contains working member and three identical parallel kinematic circuits of drive of its movements and orientation. Each circuit consists of two universal hinges (UH) connected with intermediate shaft. Inner axes of UH crosspieces are parallel, outer axes of UH crosspieces at inputs of kinematic circuits are connected to outlet shafts of drive units, and outer axes of UH crosspieces at outputs of kinematic circuits are connected to working member through cylindrical hinges. On outer axes of crosspieces of two UH of each kinematic circuit there installed at equal distances from UH centres are two rotation hinges with axes parallel to inner axes of UH crosspieces and connected with rigid link. Link length is equal to the distance between centres of UH crosspieces. Unsupported drive shafts of additionally installed orientation mechanism of working member are connected to outer axes of UH crosspieces at outputs of kinematic circuits. Output shafts of drive units are connected in addition to drive shafts of orientation mechanism with lever mechanisms providing parallelism of axes of pairs of the above shafts. Orientation mechanism of working member is made in the form of spherical lever mechanism of parallel kinematics. ^ EFFECT: invention simplifies programming of tripod manipulator with six degrees of movement. ^ 3 cl, 2 dwg |
