| 摘要 |
FIELD: machine building.SUBSTANCE: invention relates to machine building, in particular, to robotics. The mechanism includes a base, an outlet link, three kinematic chains, each comprising an inlet rotary kinematic pair, an initial rotary kinematic pair, a reciprocal kinematic pair, an intermediate rotary kinematic pair, a final rotary kinematic pair. Axes of the initial and intermediate rotary kinematic pairs are arranged in parallel to each other, the axis of the initial rotary kinematic pair is arranged with crossing of the axis of initial rotary kinematic pair, perpendicularly to it, and the axis of the intermediate rotary kinematic pair is arranged with crossing of the axis of the final rotary kinematic pair, perpendicularly to it. Besides, each kinematic chain is equipped with a drive, the axis of which is arranged with crossing of the axis of the inlet rotary kinematic pair, and perpendicularly to it, the drives are made as capable of providing rotary movements and reciprocal movements of the outlet link, and axes of all final rotary kinematic pairs are arranged with crossing in one point.EFFECT: invention provides for performance of reciprocal thee-coordinate movements in space and spherical orienting movements - rotations around one point.2 dwg |
