Decoupled pure rotation parallel mechanism with redundant branches

Abstract

The application discloses a decoupled pure rotation parallel mechanism with redundant branch chains and relates to the technical field of aerospace. Decoupled pure rotation around x, y and z axes can be realized, so that laying efficiency and manufacturing quality are improved. The parallel mechanism comprises a moving platform, a static platform and a branch chain system connected between the moving platform and the static platform; the branch chain system comprises redundant branch chains and three driving branch chains which are equidistantly arranged in a circumferential direction; upper ends of the redundant branch chains and the three driving branch chains are hinged to the moving platform, and lower ends of the redundant branch chains and the three driving branch chains move in a circumferential direction on the static platform; the driving branch chains can drive the redundant branch chains to move and realize attitude adjustment of the moving platform; and the redundant branch chains can increase the bearing capacity and stability of the parallel mechanism. The application is used for improving the performance of a composite material automatic laying parallel mechanism.

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