41results about How to "Achieving Motion Decoupling" patented technology

The invention provides a motion-decoupled rope-driven non-individual body mechanical arm and a robot. The mechanical arm comprises mechanical arm sleeves, traction rope sets and knuckles, wherein the number of the mechanical arm sleeves, the number of the traction rope sets and the number of the knuckles are more than one. The mechanical arm sleeves are sequentially arranged, and the adjacent mechanical arm sleeves are hinged to form a mechanical arm body through the knuckles. The front end of the mechanical arm body is used for being connected with a rope-driven base. The traction rope sets are used for driving the corresponding knuckles. The traction rope sets and the knuckles are in one-to-one correspondence. One end of each traction rope set is connected with the corresponding knuckle, and the other end of each traction rope set is used for being connected with the rope-driven base after sequentially penetrating through through-holes in multiple knuckle rope guiding discs arranged on the front side of the corresponding knuckle. The mechanical arm has multiple degrees of freedom, is thin and long in body type and suitable for survey and operation in narrow spaces, and has large application potential.

The invention discloses a decoupling 6D force feedback device of a sliding block type structure. The device is composed of a fixed base, a three-degree-of-freedom parallel mobile unit, and a three-degree-of-freedom parallel-serial rotation unit, wherein, the three-degree-of-freedom parallel mobile unit comprises three mutually orthogonal branches, each of the branches is guided to a sliding block by a column guide rail driven by a mobile drive motor, a double-link end is articulated with the sliding block, and the other end is connected with a rotation base by a U-shaped block, the three-degree-of-freedom parallel-serial rotation unit are driven by three rotary drive motors, the rotation base is respectively connected with a first arc rod and a third arc rod by a support hinge A and a support hinge B, the first arc rod is connected with a transfer platform by a long shaft, a second arc rod is connected with the transfer platform by a mid-length shaft, the third arc rod is connected with the second arc rod by a short shaft, and the transfer platform is in serial connection with a moving platform. The device can achieve unconditional decoupling with six degrees of freedom, and has the advantages of simple structure, easy control, high movement accuracy, lower cost and the like.

The invention relates to a silicon micro angular vibration output gyroscope composed of an upper layer and a lower layer. The upper layer is a gyroscope mechanical structure arranged on a monocrystalline silicon wafer. The lower layer comprises signal leads arranged on a glass substrate. The upper mechanical structure is composed of two similar-structured substructures, wherein the substructures are symmetrically arranged left and right, and the substructures are connected through a mass block connecting mechanism. The two substructures are respectively connected to crossbeams, which are connected to fixed pedestals through horizontal torsion bars. The fixed pedestals are arranged on fixed pedestal bonding sites on the glass substrate. Therefore, the upper mechanical structure is suspended above the lower glass substrate. The signal leads and the bonding sites are arranged on the lower glass substrate. According to the invention, with the horizontal torsion bar and the crossbeams, the gyroscope rotates around the z axis. Therefore, sensitive motion of the gyroscope is realized; motion decoupling of a driving direction and a detection direction is realized; the number of interference modes is reduced; requirement to processing precision is reduced; and sensitivity of the gyroscope is improved.

The invention discloses a three-degree-of-freedom large-stroke micro-positioning platform achieving driving force decoupling. The three-degree-of-freedom large-stroke micro-positioning platform comprises a micro-moving platform base body which sequentially comprises a bottom plate, a middle part and a top layer part from bottom to top; two transferring beams are arranged in the center of the middle part, wherein the first transferring beam is used for connecting the middle part and flexible hinge deformation structures of two Y-direction ends of the top layer part, and the second transferring beam is used for connecting the middle part and flexible hinge deformation structures of two X-direction ends of the top layer part; the top layer part is sequentially provided with the flexible hinge deformation structures, a moving platform and an output platform from outside to inside, and the output platform is arranged in the center of the moving platform; and the two ends of the output platform are connected with piezo-ceramic actuators through lever amplifying mechanisms correspondingly. According to the three-degree-of-freedom large-stroke micro-positioning platform achieving driving force decoupling, the flexible beams are used for connecting two decoupled parts of the moving platform, and equal distribution and decoupling of the driving force are achieved; and through driving of two voice coil motors, high-precision and large-stroke movement of the moving platform in the X-Y plane is achieved.

The invention discloses a decoupling 6D force feedback device of a parallel four-rod type structure. The device is used for exactly simulating strength and direction of contact force and contact torque generated by interaction among objects in a virtual environment to realize man-machine force sense interactive perception. The device is composed of a fixed base, a three-degree-of-freedom parallel mobile unit and a three-degree-of-freedom parallel-serial rotation unit, wherein, the three-degree-of-freedom parallel mobile unit comprises three mutually orthogonal branches, each of the branches is composed of a mobile guide drive, a short connecting rod and a long connecting rod; the three-degree-of-freedom parallel-serial rotation unit is composed of a rotation base, a two-degree-of-freedom spherical parallel decoupling rotation mechanism, a serial shaft and a moving platform, all moving auxiliary axes intersect at the center of the moving platform and are mutually orthogonal. The device can achieve unconditional decoupling with six degrees of freedom, and has the advantages of simple structure, easy control, high movement accuracy, lower cost and the like.

The invention discloses a silicon micromechanical vibrating gyroscope of an I-shaped structure, which is used for measuring a measuring instrument vertical to the horizontal level of a base. The silicon micromechanical vibrating gyroscope is formed by upper-layer monocrystalline silicon, middle-layer monocrystalline silicon and lower-layer monocrystalline silicon, wherein the upper-layer monocrystalline silicon is a silicon micromachined gyroscope encapsulating cover plate with a signal input wire and a signal output wire; a gyroscope mechanical structure is formed on the middle-layer monocrystalline silicon; the lower-layer monocrystalline silicon is a gyroscope substrate provided with a fixed base; and the middle-layer monocrystalline silicon is sealed in a sealed cavity formed by the upper-layer monocrystalline silicon and the lower-layer monocrystalline silicon. The silicon micromechanical vibrating gyroscope is small in error, high in mechanical sensitivity, low in vibration sensitivity and low in temperature sensitivity, and can realize movement decoupling, violent vibration and detection output decoupling of a driving modal and a detection modal.

The invention discloses a high-accuracy symmetrical parallel servo platform adopting linear drive and realizing movement decoupling. The servo platform comprises a base, a movement panel, a first guide track and a second guide track, wherein both the first guide track and the second guide track are fixed on the base and are mutually perpendicular, the movement panel can slide along the first guide track and the second guide track; linear drive devices are arranged on the first guide track and the second guide track in a matched manner, slide tracks are arranged at the side parts of the movement panel and are in sliding fit with the linear drive devices; the linear drive device on the first guide track drives the movement panel to move in the X direction, and the linear drive device on the second guide track drives the movement panel to move in the Y direction, so that movement decoupling in the X and Y movement directions is realized. Two long guide tracks fixed on the base and perpendicularly intercrossed in space are adopted, the overall rigidity of the movement platform is improved, torque caused when drive force of the parallel movement platform deviates from the mass center of the movement panel is further reduced, and torsion of the movement panel in a horizontal plane is effectively inhibited.

The invention discloses an antisymmetric parallel connection direct drive motion decoupling high-precision servo platform. The antisymmetric parallel connection direct drive motion decoupling high-precision servo platform comprises a base, a movement flat plate, a first guide rail and a second guide rail; the first guide rail and the second guide rail are both fixed to the movement flat plate and are perpendicular to each other; the base is provided with a first slide rail parallel to the first guide rail and a second slide rail parallel to the second guide rail; the first slide rail and the second slide rail are each provided with a linear driving device in a matched manner; the first slide rail and the second guide rail are connected through a first slider; the second slide rail and the first guide rail are connected through a second slider; the linear driving device on the first slide rail drives the first slider to move so as to drive the movable flat plate to move in the X direction; and the linear driving device on the second slide rail drives the second slider to move so as to drive the movable flat plate to move in the Y direction, and therefore motion decoupling in the two movement directions of X and Y is achieved.

The invention discloses a double-mass-block tuning fork angular rate gyroscope with structure decoupling capacity. The gyroscope comprises an upper vacuum packaging cover plate, a lower silicon substrate and a middle monocrystalline silicon wafer, wherein a gyroscope mechanical structure is arranged on the middle monocrystalline silicon wafer; two substructures of the gyroscope mechanical structure are symmetrically distributed both sides of a mass block connecting mechanism and two truss / horizontal-straight-beam combined mechanisms; and a first U-shaped beam is arranged along the long side of each substructure, the truss / horizontal-straight-beam combined mechanisms are connected with the substructures through the first U-shaped beams, and the straight beam is arranged in the width direction of the substructure, and used for connecting the first U-shaped beams on both sides of the substructure. The gyroscope implements motion decoupling in the drive mode and detection mode, lowers the output quadrature error, implements the drive mode and detection mode as the first-order mode and second-order mode, effectively inhibits the drive same-direction mode, detection same-direction mode, Z-direction mode and other common interference modes, and has the advantages of favorable gyroscopic properties, high consistency and high vibration interference resistance.

The invention discloses a high-precision positioning system and method for a large-aperture reflector. The positioning system comprises a reflecting mirror assembly, a mirror base assembly, a reflecting mirror support used for installing the reflecting mirror assembly, a multi-degree-of-freedom platform used for adjusting the position of the mirror base assembly and a controller. The controller isused for controlling the freedom degree platform to move according to the position information of the reflecting mirror assembly, the mirror base assembly and the multi-freedom-degree platform so asto drive the mirror base assembly to move to a target position. According to the high-precision positioning system for the large-aperture reflector, multi-degree-of-freedom linkage adjustment can be achieved through the multi-degree-of-freedom platform, the adjustment precision of the position of the reflector base is improved, and then the measurement and positioning precision is improved.

The invention discloses a low-power-action high-speed magnetic levitation vehicle suspension frame device. The device comprises a middle cross beam frame unit with a secondary suspension system, and the two sides of the two ends of the cross beam frame unit are both provided with a longitudinal beam; suspension frame units are mounted at the ends of the longitudinal beams. The suspension frame device omits a half-suspension-frame design mode of an existing magnetic levitation vehicle suspension frame, that is, the structure in which a middle longitudinal beam is used for connecting a front half suspension frame with a rear half suspension frame is not used, instead, only one middle cross beam frame unit is used; the suspension frame units are fixed on the two sides of the beam frame unit by means of the four longitudinal beams. By means of the unique suspension frame structure design, certain movement decoupling can be achieved, and the adaptability of a suspension frame to a line is enhanced; in addition, the power effect between the suspension frame device and the line can be effectively reduced by means of the middle secondary suspension, vehicle rail coupling vibration is inhibited, and the suspension stability is improved.

The invention relates to a quick cutter servo device with two decoupled shafts, and belongs to the technical field of cutting machining of optical curved surface parts and ultraprecise parts. A diamond cutter is fixedly connected with a cutter seat on a flexible hinge base body through a fixing screw, and the two ends of an X-axis piezoelectric stack are connected with the flexible hinge base body and an X-axis driving end respectively. The X-axis piezoelectric stack is connected with the flexible hinge base body through a first pre-tightening bolt, and a first Z-axis piezoelectric stack and a second Z-axis piezoelectric stack are connected with the flexible hinge base body and a Z-axis piezoelectric stack respectively. A displacement detection block is mounted behind the cutter seat on the flexible hinge base body, and the displacement detection block is fixedly connected with the flexible hinge base body through a fixing screw. The quick cutter servo device with the two decoupled shafts has the advantages that the structure is novel, the mode that a piezoelectric actuator is in parallel connection with a flexible mechanism is used, the inertia mass of the movement part of a flexible hinge mechanism is reduced, the operation bandwidth of an FTS device can be better increased, and the machining efficiency of the FTS device is improved.

The invention discloses an auxiliary supporting type wave simulation generating device under a high gravity field. The device comprises a model box and a wave generation unit; a rock-soil body is arranged at the bottom in the model box, a simulation maritime work structure is arranged on the rock-soil body, the water is placed at the upper part of the rock-soil body in the model box; a sliding module and a connecting rod are in rotational connection, the connecting rod and a rocker structure are in rotational connection, thereby accomplishing the power transmission and movement realization tothe rocker structure from a hydraulic cylinder, and the angle different problem between the rocker and a hydraulic cylinder piston rod in the rocker swinging process is solved. The height difference problem between the connecting location of the rocker and connecting plate and the piston rod of the hydraulic cylinder in the rocker swinging process is solved through the sliding module; the integration of the sliding and the rotation is realized through a relay sliding block structure, the self-adaptive matching of the combined transmission unit sliding device and rotation device and the rockerstructure swinging movement is realized, and the movement decoupling between the piston rod of the hydraulic cylinder and the rocker is realized.

The invention discloses an array annular coupling three-axis full-decoupling micro-gyroscope and a processing method thereof; the micro-gyroscope is of a tetragonal symmetrical structure, and mainly comprises an outer annular driving frame part, an inner annular driving coupling frame part, a sensitive detection mass block part, a corresponding coupling folding beam and the like, wherein four massblocks in the designed tetragonal symmetrical structure are completely consistent with the internal structure, each mass block comprises a driving transmission frame, two two-degree-of-freedom frames, two detection frames and corresponding coupling folding beams, and the driving transmission frames of the four mass blocks are coupled and connected through an outer ring and an inner ring to realize equal-amplitude differential driving; and the detection frames realize a full decoupling function through the coupling beams, so that relatively good measurement performance is achieved. The processing technology is simple, and good detection performance can be achieved.

The invention relates to a three-freedom-degree constant speed decoupling space robot active spherical wrist and a universal compliant control method. The offset mode that the included angles are formed among rotation plane normal and rotating shafts is adopted for both an upper hemisphere rotating body and a lower hemisphere rotating body. The intersection point of the two rotating shafts of the upper rotating body and the lower rotating body is the sphere center of hemispheres of the upper rotating body and the lower rotating body, the intersection point of the two rotating shafts coincides with the rotating center of an inner ball cage universal joint and the rotating center of an outer ball cage universal joint respectively, and then constant speed decoupling of three input movements is achieved; the output end of the outer ball cage universal joint is connected with a shaft neck of the upper rotating body through a bearing in a suspension mode, three absolute corner coded discs are connected with the upper rotating body, the lower rotating body, a motor conducting spinning motion, and the output end of a speed reducing system respectively, a six-dimensional ATI sensor is installed at the output tail end of the wrist, and a wrist universal compliant follow-up control mode is achieved by a rotating joint of an upper hemisphere, a rotating joint of a lower hemisphere and a joint conducting spinning motion through a system friction force compensation technology. The three-freedom-degree constant speed decoupling space robot active spherical wrist and the universal compliant control method are accurate in locating, stable in movement, and capable of avoiding oscillation phenomena of movement coupling and mechanical arms and effectively relieving mechanical interference in a spherical wrist full compliant mode.

The invention relates to a multi-axis two-degree-of-freedom synchronous swinging device. The synchronous swinging devicee comprises an outer frame, an inner frame, a plurality of rotating discs, a swinging mechanism, a pitching mechanism, a protective cover and a limiting device, wherein the inner frame is arranged inside the outer frame, the inner frame is rotationally connected with the first side surface and the second side surface of the outer frame through a first rotating pair, the plurality of rotating discs are uniformly distributed on the first end surface of the inner frame and are rotationally connected with the inner frame through a second rotating pair, the swinging mechanism is rotationally connected with the rotating discs through swinging connecting rods, the pitching mechanism is fixedly connected with the first end of the inner frame through a rocking bar, the protecting cover is arranged on the first end surface of the outer frame, and the limiting device is arrangedon the first side surface of the outer frame. According to the synchronous swinging device, two two-degree-of-freedom of rotation is realized, so that the working area can be adjusted within a certain range, a plurality of identical workpieces can be synchronously polished, meanwhile, the original machining main shaft of a machine tool can be replaced, so that the defects of the main shaft pose adjusting range are compensated, the processing precision is improved, and the production quality standard is controlled.

The invention discloses a high-precision positioning system and method for a large-aperture reflector. The positioning system comprises a reflecting mirror assembly, a mirror base assembly, a reflecting mirror support used for installing the reflecting mirror assembly, a multi-degree-of-freedom platform used for adjusting the position of the mirror base assembly and a controller. The controller isused for controlling the freedom degree platform to move according to the position information of the reflecting mirror assembly, the mirror base assembly and the multi-freedom-degree platform so asto drive the mirror base assembly to move to a target position. According to the high-precision positioning system for the large-aperture reflector, multi-degree-of-freedom linkage adjustment can be achieved through the multi-degree-of-freedom platform, the adjustment precision of the position of the reflector base is improved, and then the measurement and positioning precision is improved.

The invention discloses a robot pose adjusting mechanism with two or three rotary freedoms, containing a special link rod mechanism composed of two parallelograms. When using the wrist mechanism to adjust the robot pose, it keeps the space position of working point in the robot hand, which realizes the motion decoupling of position mechanism and pose adjusting mechanism, extremely simplifying motion analysis and control algorithm of the robot.

The invention relates to a multi-axis two-degree-of-freedom synchronous swing device, which includes an outer frame, an inner frame, a plurality of turntables, a swing mechanism, a pitch mechanism, a protective cover and a limit device. The inner frame is arranged inside the outer frame, and through The first rotating pair is rotationally connected with the first side and the second side of the outer frame, and a plurality of turntables are evenly arranged on the first end surface of the inner frame, and the plurality of turntables are all rotationally connected with the inner frame through the second rotating pair, and the swing mechanism passes through The swing link is rotatably connected to a plurality of turntables, the pitch mechanism is fixedly connected to the first end of the inner frame through the rocker, the protective cover is installed on the first end surface of the outer frame, and the first side of the outer frame is provided with a limiting device. The oscillating device of the present invention has two rotational degrees of freedom, not only can oscillate within a certain range to adjust the working area, but also can simultaneously polish multiple identical workpieces, and can replace the processing spindle of the original machine tool to compensate for the adjustment of the spindle position and posture Insufficient range, improve machining accuracy, and control production quality standards.

A linear locking cylinder adopting a built-in fixed ultrasonic screw rod aims to solve the current technical problems of the linear locking cylinder, such as low positioning accuracy, complex structure and assembly, and poor sealing performance. The invention consists of a front end cover, a cylinder barrel, a piston assembly, a rear end cover, an ultrasonic lead screw assembly and a piston rod. On the basis of not changing the basic assembly structure of the existing cylinder, the invention utilizes the ultrasonic anti-friction effect produced by the ultrasonic screw and the motion conversion sleeve to realize the precise movement and locking of the piston rod in the cylinder barrel, and the movement is made through the thread pair connection. The conversion sleeve moves helically during the friction reduction process to realize the decoupling of the movement of the piston in the cylinder. It not only inherits all the good characteristics of the basic structure of the existing linear cylinder, but also has high positioning accuracy, simple structure assembly, convenient processing, and sealing. It has good engineering application value in semiconductor processing, automatic measurement and control, robot drive and other technical fields.

The invention discloses a decoupling 6D force feedback device of a sliding block type structure. The device is composed of a fixed base, a three-degree-of-freedom parallel mobile unit, and a three-degree-of-freedom parallel-serial rotation unit, wherein, the three-degree-of-freedom parallel mobile unit comprises three mutually orthogonal branches, each of the branches is guided to a sliding blockby a column guide rail driven by a mobile drive motor, a double-link end is articulated with the sliding block, and the other end is connected with a rotation base by a U-shaped block, the three-degree-of-freedom parallel-serial rotation unit are driven by three rotary drive motors, the rotation base is respectively connected with a first arc rod and a third arc rod by a support hinge A and a support hinge B, the first arc rod is connected with a transfer platform by a long shaft, a second arc rod is connected with the transfer platform by a mid-length shaft, the third arc rod is connected with the second arc rod by a short shaft, and the transfer platform is in serial connection with a moving platform. The device can achieve unconditional decoupling with six degrees of freedom, and has the advantages of simple structure, easy control, high movement accuracy, lower cost and the like.

The invention relates to a wobbly silicon micro gyroscope which comprises an upper layer and a lower layer, wherein a gyroscope mechanical structure which is arranged on a monocrystalline silicon sheet is formed on the upper layer, and a signal lead wire which is arranged on a glass substrate is formed on the lower layer. The signal lead wire and a bonding point are arranged on the glass substrate on the lower layer; the gyroscope mechanical structure on the upper layer comprises a pair of identical minor structures which are symmetrically arranged along the Y axis and are respectively connected with a beam, and the beam is bonded with the glass substrate on the lower layer through two groups of twisting rods to enable the mechanical structure on the upper layer to be suspended above the glass substrate on the lower layer. The twisting rods and the beam are adopted in the invention to enable the gyroscope to rotate around the Z axis, the sensitive movement of the gyroscope is achieved, and the movement decoupling in the driving direction and the detecting direction is achieved. The twisting rods are used for replacing sensitive supporting beams, the amount of the supporting beams is reduced, and the influence of the processing error to the performance of the gyroscope is reduced.

The invention provides a soil sealing and guiding thrust plate for a horizontal tunnel lining model testbed board, which belongs to the technical field of civil engineering, wherein the trust plate is simply put on the testbed board, the bottom of the trust plate is stressed by larger friction force which is not uniform at the end and the right end, so the trust plate is caused to be stressed unevenly at the end and the right end, four trust plates are easily form a rhombus structure, so the surrounding rock and the lining model are unevenly stressed, and the measuring result is influenced. In the invention, a concave groove is arranged below the two vertical crossed ribs of the trust plate and is welded on the testbed board, a roller is arranged at the bottom of the concave groove, and the vertical lower end surfaces of the cross ribs are tangential to the roller; and a sliding plate is in an I-shaped beam structure, one end of the sliding plate is arranged in the sliding plate groove of the trust plate and is tangential to the roller in the sliding plate groove. The thrust plate is mainly used for the soil sealing, guiding and trusting tests of the horizontal tunnel lining model testbed board.

The invention discloses a three degree-of-freedom large travel flexible nano positioning platform, which comprises a fixed base, wherein a motion platform is set on the fixed base; the motion platform comprises a basic base; a terminal platform is set in the middle of the basic base; the motion platform also comprises four X direction flexible decoupling members that are in centrosymmetric distribution and four Y direction flexible decoupling members that are incentrosymmetric distribution; and an X direction driver X1, an X direction driver X2, a Y direction driver Y1 and a Y direction driver Y2 are respectively set inside the second X direction flexible decoupling member, the fourth X direction flexible decoupling member, the first Y direction flexible decoupling member and the third Y direction flexible decoupling member. According tot he invention, the structure is compact; and a voice coil motor driver is adopted inside a double-level Phi-shaped plate spring, thus the size of the whole nano flexible platform is greatly reduced, and the occupying proportion of the output space and the platform space is greatly increased.

The invention provides a silicon micromechanical gyroscope with a four-column mass block, which includes an upper mass block structure, a middle layer silicon microsensor structure, and a lower substrate structure. The upper mass block structure includes four cylindrical mass blocks, and the four The cylindrical mass blocks are respectively bonded to the center of the four mass block trays of the silicon microsensor structure, and the middle silicon microsensor structure is bonded to the lower substrate through anchor points; The four mass block trays around the detection substructure, the driving substructure connected between two adjacent mass block trays, and the connection between two adjacent mass block trays are also connected by detection coupling beams; electrode leads are arranged on the lower substrate. The gyroscope can be sensitive to the angular velocity of the vertical axis, and has the advantages of low driving and detection frequency and high sensitivity.

The invention relates to an indexable three-degree-of-freedom high-bandwidth vibration auxiliary cutting device, and belongs to the technical field of ultra-precision cutting machining. The indexablethree-degree-of-freedom high-bandwidth vibration auxiliary cutting device mainly comprises an elliptical vibration auxiliary cutting device, a precision rotary table and a fixed base. The elliptical vibration auxiliary cutting device is connected with the precision rotary table through a fastening bolt, and angle adjustment is carried out through the precision rotary table. The precision rotary table is connected with the fixed base through a fastening bolt, and the fixed base and the elliptical vibration auxiliary cutting device carry out auxiliary supporting on the device in a face contact manner through an arc-shaped boss. The indexable three-degree-of-freedom high-bandwidth vibration auxiliary cutting device has the beneficial effects that the space of the elliptical track at the toolnose position can be adjusted through 360-degree angle adjustment; and branch chains are formed by connecting trapezoidal thin plates, X-shaped hinges and straight circular flexible hinges in series,the four branch chains are connected with a tail end motion tool apron in parallel at 90 degrees to form a compliant mechanism, and high bandwidth and motion decoupling of all shafts can be achieved.The indexable three-degree-of-freedom high-bandwidth vibration auxiliary cutting device is compact in structure and can be widely applied to various machining machine tools and equipment of differentconfigurations.

The invention discloses a decoupling 6D force feedback device of a parallel four-rod type structure. The device is used for exactly simulating strength and direction of contact force and contact torque generated by interaction among objects in a virtual environment to realize man-machine force sense interactive perception. The device is composed of a fixed base, a three-degree-of-freedom parallelmobile unit and a three-degree-of-freedom parallel-serial rotation unit, wherein, the three-degree-of-freedom parallel mobile unit comprises three mutually orthogonal branches, each of the branches is composed of a mobile guide drive, a short connecting rod and a long connecting rod; the three-degree-of-freedom parallel-serial rotation unit is composed of a rotation base, a two-degree-of-freedom spherical parallel decoupling rotation mechanism, a serial shaft and a moving platform, all moving auxiliary axes intersect at the center of the moving platform and are mutually orthogonal. The devicecan achieve unconditional decoupling with six degrees of freedom, and has the advantages of simple structure, easy control, high movement accuracy, lower cost and the like.