Abstract： |
The invention relates to a motion decoupled spatial three-freedom parallel mechanism, belonging to the mechanical structure technical field, comprising: a dynamic platform, a static platform, and three branches connected with the dynamic and static platforms, where two branches are the same and their vertical axes are located in the same plane, and the three branches all contain an input piece, a connecting piece and three motion auxiliaries, where one motion auxiliary is a single-freedom motion auxiliary a connected between the input piece and the static platform, one is a single-freedom motion auxiliary b connected between the input piece and the connecting piece, and another one is a motion auxiliary c connected between the dynamic platform and the connecting piece, where the motion auxiliary a is driven, the motion auxiliary c can be single-freedom and multi-freedom. And the invention has features of higher rotating capacity, i.e. higher flexibility, and motion and remotion decoupling. |
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