Abstract
The analysis of the state of spatial mechanisms research with a special structure in recent years has been carried out. The peculiarity of the mechanisms lies in the fact that the geometrical axes of its hinges are crossed at different angles and decorated only on rolling or sliding bearings. In domestic and world science there is practically no information about its practical use in technology, because of the special conditions of research and production in models and natural samples. The priority of research and implementation of devices based on them belongs to Kazan scientists. At present, research is being conducted on spatial mechanisms with rotary hinges on further practical use of devices in various sections of technology. They are classified into planar (the links move in the same plane) and spatial (the links move in different planes). Flat mechanisms are rather deeply studied and researched, information about them can be obtained in any textbook on the theory of mechanisms and machines. The links of spatial mechanisms are interconnected in combination with the following kinematic pairs: rotational, ball, translational, ball with a finger, “ball-tube”. Spatial mechanisms with only rotational pairs (hinges) in their development had significant difficulties and problems. Spatial mechanisms with rotary joints have formed a new group in the theory of mechanisms and machines, have many functional properties and have shown the effectiveness of using technology and technology in various sections. Over the past three years, the composition of devices based on the mechanisms of this group has increased by fifteen units, protected by patents and utility models in seven sections of technology.
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