Modulators of muscarinic receptors

A compound formula (I)

• or pharmaceutically acceptable salts thereof, wherein
• Each of R1, R2, R3 is independently Q1 or Q2, or R2 and R3 together form oxo;
• Z1 is —C(Q1)2—, —C(H)(Q1)-, —C(H)(Q5)-, —C(O)—, —CH2—, —N(Q1)-, —N(Q2)-, or O;
• Z2 is N;
• L is a bond, an aliphatic group, C3-C6 cycloaliphatic, —O—, —S(O)z—, —S(O)z—(C1-C4)alkyl-, —C(O)N(Q2)-, or —S(O)z N(Q2)-, in which the aliphatic group is optionally substituted with 1-3 of oxo, Q1, or Q2;
• G is a monocycloaliphatic group, a monocycloheteroaliphatic group, adamantyl, or a bicyclic or a tricyclic group of the formula (III)
• in which the monocycloaliphatic group, the monocycloheteroalipahtic group, the adamantyl, and the bicyclic or tricyclic group are connected to L via any ring atom including those in X1 and ring B, and the monocycloaliphatic, the monocycloheteroaliphatic, the bicyclic, and the tricyclic groups are optionally substituted with 1-3 of oxo, ═N—OQ4, fluorine, Q2, —C(O)—X2-aliphatic in which X2 is absent, —O—, —NH—, —NQ2-, or —S(O)z— and the aliphatic group is optionally substituted with 1-3 substituents independently selected from Q3;
• Bond r is a single or double bond and when ring B is present, bond r is fused with B;
• Ring B, when present, is a 5-6 membered cycloaliphatic or heterocycloaliphatic ring, and is optionally substituted with 1-3 of oxo, Q1, or Q2;
• X1 is —(CH2)i-, —O—, —S—, —N(Q2)-, or —N(C(O)—X2-aliphatic) in which X2 is absent, —O—, —NH—, —NQ2-, or —S(O)z— and the aliphatic group is optionally substituted with 1-3 substituents independently selected from Q3;
• Each Q1 is independently halo, —CN, —NO2, —OQ2, —S(O)zQ2, —S(O)zN(Q2)2, —N(Q2)2, —C(O)OQ2, —C(O)-Q2, —C(O)N(Q2)2, —C(O)N(Q2)(OQ2), —N(Q2)C(O)-Q2, —N(Q2)C(O)N(Q2)2, —N(Q2)C(O)O-Q2, —N(Q2)S(O)z-Q2 or aliphatic optionally including 1-3 substituents independently selected from Q2 or Q3;
• Each Q2 is independently H, aliphatic, cycloaliphatic, aryl, arylalkyl, heterocyclic, or heteroaryl ring, each optionally including 1-3 substituents independently selected from Q3;
• Each Q3 is halo, oxo, —CN, —NO2, —CF3, —OCF3, —OH, —S(O)zQ4, —N(Q4)2, —COOQ4, —C(O)Q4, —OQ4, or C1-C4 alkyl optionally substituted with halo, oxo, —CN, —NO2, —CF3, —OCF3, —OH, —SH, —S(O)zH, —NH2, or —COOH;
• Each Q4 is aliphatic, cycloaliphatic, aryl, aralkyl, heterocycloaliphatic, heteroaralky, or heteroaryl, each optionally including 1-3 substituents selected from halo, oxo, CN, NO2, CF3, OCF3, OH, SH, —S(O)zH, —NH2, or COOH;
• Each Q5 is a heterocyclic ring optionally including 1-3 substituents selected from halo, C1-C4alkyl, oxo, CN, NO2, CF3, OCF3, OH, SH, —S(O)zH, —NH2, COOH;
• Each i is independently 1, 2, or 3;
• Each m and n is independently 1, 2, 3, or 4 provided that m+n is at least 4;
• Each p is 0 or 1;
• Each y is independently 0 or 1;
• Each z is independently 0, 1, or 2;
• Each t is 1 to 4;
• and
• Provided that when
• Z1 is —CH2— or —N(CH3)—, L is a bond, and G is an optionally substituted monocycloaliphatic, an optionally substituted monocycloheteroaliphatic group, or a norbornyl group;
• the R1 substituent is other than H;
• L is —C(O)—CH2— and Z1 is —N(Q1)-, where Q1 is —S(O)2-optionally substituted phenyl;
• the R1 substituent is other than H;
• L is —S(O)2—(C1-C4)alkyl- and Z1 is —CH2—;
• the R1 substituent is other than H;
• L is —S(O)2—(C1-C4)alkyl-, and R2 and R3 form ═O, and Z1 is —N(Q1)-, where Q1 is aliphatic or —S(O)2-aliphatic;
• the R1 substituent is other than H;
• and
• L is aliphatic, and R2 and R3 form ═O, and Z1 is —N(Q1)-, where Q1 is aliphatic, and G is a substituted monocycloheteroaliphatic group;
• the R1 substituent is other than H.