Abstract:

Is stated the analysis of manipulators that are created by spherical kinematic chains. The manipulators that are based on spherical five-bar mechanisms with two degrees of freedom and spherical four-bar mechanisms with one degree of freedom are revealed. Is carried out the kinematic analysis of spherical five-bar manipulator and is found the working volume of gripper’s operating range as well as its location. Is shown that manipulators, created on the basis of spherical four-bar mechanisms, actually are represented the six and seven-bar automatic manipulators that will be able on the surface of sphere perform various technological operations. The obtained manipulator is possible to apply for executing of various practical tasks.

Keywords: manipulator; analysis; girder; spherical automatic five, six and seven-bar manipulators.