128 results about "Kinematic chain" patented technology

The invention provides a self-supervised continuous 3D hand posture tracking method based on a lightweight inertial measurement unit, and the method specifically comprises the following steps: firstly, obtaining a hand motion signal by using a lightweight consumer-level IMU, and extracting features by using a multi-stage neural network containing a bidirectional long-short term memory (Bi-LSTM) module; the global displacement and orientation of the hand are processed through a wrist posture estimation module, and three-dimensional coordinates of hand skeleton points are solved and calculated by means of a finger motion chain; secondly, a self-supervised completion network is realized by combining a random mask and dual loss, and the features are processed to complete complete attitude reconstruction; and finally, combining network output with kinematics prior, generating a three-dimensional grid with reasonable anatomy, solving the problem that joint deformation is inconsistent with torque, and realizing accurate acquisition of a three-dimensional hand posture. For a dynamic hand motion tracking task, the method can adapt to a sparse IMU deployment scene and realize continuous high-precision tracking; the real-time performance demand of daily interaction can be met, and a low-cost solution can be provided for the fields such as medical rehabilitation and virtual interaction which have strict requirements on attitude precision.

The invention relates to the technical field of rehabilitation medical treatment, and discloses a muscle group stress analysis method and device, a terminal and a storage medium, and the method comprises the steps: respectively obtaining motion data collected by inertial measurement units arranged on the body of a user, and recognizing gait events based on the motion data corresponding to the inertial measurement units of the lower limbs, dividing the continuous motion data into a plurality of gait cycles according to the gait event; fusing the motion data acquired by each inertial measurement unit to obtain a three-dimensional posture of each preset segment of the body, and constructing a three-dimensional motion track of the spine area of the user in combination with a human kinematics chain model; processing the three-dimensional motion track and the known muscle group stress data by adopting a singular value decomposition embedding regression method to obtain a preliminary target muscle group stress curve of each gait cycle; and correcting the initial target muscle group stress curve based on a human body multi-rigid-body dynamic model in combination with a control cost function to obtain a final target muscle group stress curve.

The invention relates to a multi-stage optimization and kinematics constraint-based thumb posture estimation method and computing equipment. The method comprises the following steps of: acquiring original hand data, preprocessing the original hand data, and initializing parameters; constructing a multi-objective optimization function with multiple constraints, obtaining an initial estimation thumb posture based on the preprocessed data, taking the initial estimation thumb posture as an initial value, and performing recursive calculation by using a kinematics chain to obtain an accurate angle of each joint of the thumb; integrating the accurate thumb joint angle to complete hand posture parameters and outputting the parameters; a computing device is implemented based on the method. Complete and accurate thumb kinematic chain recovery under incomplete input is achieved, it is guaranteed that all estimated thumb joint angles conform to the human anatomy activity range, and high-fidelity basic data are provided for downstream application; the generated thumb motion sequence is continuous and smooth in the time dimension, and the visual experience in real-time interaction application is greatly improved; in an interactive application, a more natural, accurate and jitter-free gesture control experience can be realized.

The invention relates to the technical field of non-standard automation equipment control, in particular to an industrial robot machining program migration method based on a configuration description file, and solves the problem that a non-standard industrial robot cannot migrate a machining program. The method comprises the steps that S1, a configuration description file of a prototype industrial robot is constructed, and based on object-oriented abstract modeling, kinematics, peripheral and communication modeling and a machining program are included; s2, the target robot is assembled according to the prototype physical structure, and it is ensured that the same configuration, component assembly, the axis movement direction and the origin coordinate are consistent; s3, loading the configuration file to the target robot; s4, correcting assembly errors through visual sensing, obtaining accurate coordinates among the parts, and then generating joint coordinates through inverse solution; and S5, the target robot executes the adaptive machining program, and program migration is achieved. According to the method, prototype machine information is packaged through the configuration description file, after the target machine is loaded, errors are corrected only through visual calibration, rapid adaptive machining can be achieved through kinematic chain inverse solution, and rapid copying of robots of the same configuration is achieved.

The invention relates to a Tripteron-type parallel manipulator configured to provide three purely translational degrees of freedom by means of three orthogonal linear actuators and their respective parallelogram-shaped kinematic chains. The system incorporates an auxiliary active support arranged on the Z-axis, intended to apply an upward vertical force to the moving platform (11) in order to reduce the load borne by the kinematic chain and the main Z-axis actuator. This support can be implemented using electric or pneumatic actuators, elastic elements, or cable-driven mechanisms, allowing for active, passive, or semi-active operating modes.The integration of the auxiliary support increases the manipulator's load capacity, improves its dynamic stability, and reduces the mechanical demands on the vertical actuator, while maintaining the purely translational kinematics and structural characteristics of the original Tripteron unchanged.

This invention relates to a trenching device and method for pipeline laying. The trenching device includes a connecting frame, a support frame, a chain drive mechanism, strip plates, a shearing plate, and a reciprocating motion mechanism. The support frame is located below the rear side of the connecting frame. The chain drive mechanism is mounted on the support frame and can drive the chain to move back and forth circumferentially. A strip plate extending laterally is fixed to a link of the chain. The strip plate has left and right extending grooves, with the groove openings facing away from the corresponding chain link. The shearing plate is slidably connected within the grooves. Both the shearing plate and the strip plate have shearing portions at their edges near the groove openings. The reciprocating motion mechanism is mounted on the strip plate and is connected to both the shearing plate and the drive mechanism. The chain drives the reciprocating motion mechanism on the strip plate to move back and forth circumferentially, and the reciprocating motion mechanism, driven by the drive mechanism, drives the shearing plate to reciprocate left and right. This invention ensures continuous and efficient trenching operations.

The invention relates to the field of ankle joint rehabilitation robots, in particular to a one-translation and two-rotation type parallel ankle joint rehabilitation robot and a working method. The parallel mechanism comprises a static platform, a first mixed branch chain, a second just constraint branch chain and a movable platform, and a basic kinematic chain containing two loops is formed. The mechanism only comprises a translation pair and a rotation pair, so that the mechanism has the advantages of high rigidity and good precision.

The invention discloses a motion analysis and feedback method and device and a computer readable storage medium, and the method comprises the steps: building a neutral position reference model based on the skeleton features of a user, and calculating the instantaneous deviation features of a real-time posture and the reference model; resolving a time domain accumulation feature representing the stubborn degree of the action error and a time domain change rate feature representing the deterioration trend of the action error in real time; retrieving the kinematic chain knowledge graph to obtain attribution information; inputting the features into an adaptive feedback control model, dynamically calculating abstract hierarchy parameters of a teaching strategy based on the magnitude of time domain accumulation features, respectively calculating mood specificity parameters and intervention opportunity parameters in combination with instantaneous deviation features and time domain change rate features, and generating prompt control parameters; and finally, system prompts are assembled based on the prompt control parameters, and self-adaptive feedback information is generated. According to the application, the crossing from mechanical error correction to adaptive closed-loop teaching can be realized.

This invention proposes a comprehensive compensation method for key errors in five-axis in-machine measurement. This method compensates for pre-travel errors along the normal vector in the machine tool coordinate system during five-axis in-machine measurement, avoiding the inaccuracy of compensation along the normal vector in the part coordinate system in existing technologies. Furthermore, a high-precision and stable laser interferometer is used to identify the positioning deviations of the two rotation axes, and the identified deviations are substituted into the machine tool kinematics chain to offset the rotational angle positioning deviations introduced in the five-axis in-machine measurement. The calculation method of this invention is simple and reliable, and can be extended to in-machine measurement on four-axis machine tools or other five-axis machine tools with different structures.

An aircraft rudder pedal includes a frame, a pair of pedals, an output shaft and a mechanical kinematic chain for transmitting to the output shaft a displacement of at least one of the pedals relative to the frame. The mechanical kinematic chain comprises a central transmission part able to be rotated relative to the frame by a displacement of one of the pedals relative to the frame. The mechanical kinematic chain also includes a transmission mechanism joining the central transmission part to the output shaft. The transmission mechanism includes a homokinetic association of two universal joints between said central transmission part and the output shaft.

The invention provides a sub-closed-loop-containing robot kinematics calibration method and device based on constraint relaxation, and relates to the technical field of robot calibration, and the method comprises the steps: carrying out the decomposition of a main kinematic chain under the condition that there are multiple branches in the main kinematic chain of a robot, so as to generate multiple virtual kinematic chains; according to kinematic parameters and closed-loop geometric constraints of virtual joints in each virtual kinematic chain, the theoretical tail end pose of the robot is determined; parameter errors are determined according to the pose deviation between the theoretical tail end pose and the actual tail end pose of the robot; according to the parameter errors and the calibrated kinematics parameters, the corrected pose deviation is determined; and the active joint displacement is updated according to the corrected pose deviation until the corrected pose deviation or the active joint displacement meets the iteration termination condition, the robot is calibrated according to the determined active joint target displacement, and the calibration precision of the robot is improved.

The invention relates to the technical field of mobile surveying and mapping and wearable computing, and discloses a head-mounted laser radar point cloud matching method and device, and the method comprises the steps: receiving an original laser point cloud data stream and inertial measurement data; human cervical vertebra kinematics chain parameters are read; establishing a continuous time trajectory model by using an accumulated B-spline function; inversely solving a human cervical vertebra joint configuration vector according to the current track state; calculating an analytic geometry jacobian matrix; constructing a manifold tangent space projection operator by using an analytic geometry jacobian matrix; and executing joint constraint optimization based on tangent space projection, constructing a joint constraint Jacobian matrix by using a manifold tangent space projection operator, solving an incremental equation, and carrying out iterative updating on a B spline control point. According to the method, trajectory update is strictly limited in the human cervical vertebra kinematics manifold by using the manifold tangent space projection operator, motion noise violating a physiological structure is effectively filtered, and the physical consistency and precision of pose calculation in a complex motion scene are improved.

The application discloses a numerical control machine tool control method and system for complex curved surface machining, and relates to the field of numerical control machine tool control. The method comprises the following steps: extracting an original G code instruction stream, reconstructing ideal position instruction sequences and ideal speed instruction sequences of each motion shaft according to a machine tool kinematic chain model; estimating instruction phase lag amounts of each motion shaft through an inter-shaft phase lag predictor; combining geometric curvatures and tangent directions of a machining path, calculating estimated profile error vectors through a profile error coupling mapping model; combining profile accuracy requirement constraints of a surface to be machined and a shaft contribution weight matrix, and constructing a compensation optimization model; and fusing inter-shaft phase compensation instructions and the original G code instruction stream in a numerical control machining program according to a solution of the compensation optimization model, generating a synchronized instruction stream, and driving each shaft of the machine tool to move. The method solves the problems of poor synchronization of multi-shaft cooperative movement, low estimation accuracy, and low adaptability of instructions to mechanical structure characteristics of the machine tool.

The invention discloses a three-dimensional visualization method of a five-degree-of-freedom hybrid robot, and relates to the field of robot technology visualization, and the method comprises the following steps: obtaining real-time joint data collected by position sensors deployed at all active joints of the robot; performing forward kinematics calculation on the real-time joint data to obtain tail end pose data of the robot; inverse kinematics calculation is carried out on the tail end pose data, and theoretical pose data describing the spatial positions and postures of all parts of the robot are obtained; a three-dimensional surface model file of the robot is obtained and analyzed, and initial geometric data of all parts are extracted; according to the method, closed-loop kinematic chain constraint resolving of the hybrid mechanism is achieved through kinematics of the five-degree-of-freedom hybrid robot, and it is ensured that the poses of all the parts are accurately described.

The utility model relates to the technical field of polishing equipment, in particular to polishing equipment for cutter machining. Supporting legs are fixedly connected to the bottom of the bottom plate, a side plate is fixedly connected to the top of the bottom plate, a control device is fixedly connected to the exterior of the side plate, and a top plate is fixedly connected to the back of the bottom plate; the first motor drives the rotating plate to rotate, so that the rotating plate enters the intermittent plate and pushes the intermittent plate to rotate, and then the rotating plate retreats. The action enables the intermittent plate to intermittently rotate to drive the chain on the first chain wheel to move on the second chain wheel. A stop clearance exists when the chain moves, and at the moment, a to-be-polished cutter is manually placed on the inner side of the protection plate. The second motor drives the screw to rotate and drives the sliding plate to slide along the sliding rod, so that the L-shaped rotating plate rotates around the fixing frame and pushes the clamping block to clamp the tool, meanwhile, a worker on the other side takes down the polished tool, the continuous production process is formed, the production efficiency is improved, and operation safety is guaranteed.

The application provides a UAV radar cover lateral folding connection mechanism, comprising a hinge base assembly, an upper hinge assembly, a lower hinge assembly, a plurality of hinge shaft assemblies, a fuselage front frame, a radar cover ring frame assembly, a radar cover, a plurality of positioning pin seats and a limiting assembly. The application realizes the connection between the radar cover and the fuselage through two synchronous open motion chains, and the radar cover can be quickly and smoothly opened and closed laterally. The technical scheme of the application can solve the technical problems of the prior art, such as complex opening and closing operation process, long dismounting time and sealing scheme limited by the motion track of the radar cover.

The invention discloses a five-axis numerical control machine tool machining error on-line compensation system based on deep learning, relates to the technical field of machine tool error compensation, and solves the problems that position correction difference is caused by neglecting a complex coupling relation between rotating shafts and linear shafts of different types of machine tools, and the error compensation accuracy is high. And deep learning models for machine tools with different requirement types are not designed, so that the model prediction precision is influenced. Determining the coupling relation of each axis error through the HTM homogeneous transformation matrix of the machine tool kinematic chain; aiming at kinematic chain structure differences of different types of machine tools, a differential correction strategy is designed. And constructing a zero drift time sequence model in combination with a historical drift trend term and a random error term predicted by the LSTM. Geometric error terms strongly related to machining errors are screened through grey correlation analysis, then the weight of the geometric error terms is quantified through random forest, the accuracy of key error recognition through a combinatorial algorithm is improved, and the model prediction precision is improved by training fusion models for machine tools with different requirement types.

The invention relates to a welding device for sheet metal parts of a dining car carriage and a working method thereof.The welding device comprises a welding robot and a material fixing mechanism, the material fixing mechanism comprises an electric rotary table, a supporting rotary column is fixedly installed at the rotating end of the electric rotary table, and a bottom plate electromagnetic base is installed on the supporting rotary column; a plurality of first adsorption blocks are detachably mounted on the bottom plate electromagnetic seat, a rotating ring is rotatably mounted on the supporting rotating column, a supporting arm is mounted on the outer side of the rotating ring, a telescopic arm is slidably mounted in the supporting arm, and a cross beam is rotatably mounted on the top side of the outer end of the telescopic arm; according to the invention, ultra-high flexibility and high-precision customization-free positioning are realized, a traditional clamp mode is subverted, and a universal positioning platform is constructed through combination of a modularized multi-degree-of-freedom kinematic chain and a self-adaptive adsorption system.

The application discloses a numerical control machine tool precision distribution method from geometric error to manufacturing tolerance, comprising: using small deformation hypothesis and superposition principle to obtain the influence coefficient matrix of manufacturing tolerance to position related geometric error, and combining with the machine tool motion chain to establish a manufacturing tolerance-geometric error-space error three-layer mapping model; adopting Sobol total effect sensitivity analysis of the overall workspace characteristic trajectory to obtain the total effect sensitivity index of each manufacturing tolerance; establishing a manufacturing cost evaluation model, and combining with the total effect sensitivity index to construct a cost sensitivity index; taking the minimum manufacturing cost as the target, comprehensively considering the tolerance definition domain constraint, the sorting constraint and the space error confidence constraint, and using an optimization algorithm to realize precision distribution. The application traces the precision distribution from the abstract geometric error level to the part manufacturing tolerance level, and can further realize the collaborative optimization of machine tool precision design and manufacturing cost.

This invention discloses a comprehensive error decoupling compensation method for a five-axis CNC polishing machine, comprising: 1. establishing homogeneous transformation matrices for the workpiece kinematic chain and tool kinematic chain of the five-axis polishing machine under ideal and error conditions; 2. establishing a comprehensive error transformation matrix between the coordinate systems of each kinematic pair of the five-axis polishing machine based on the homogeneous transformation matrix; 3. spatially decoupling the comprehensive error transformation matrix of the five-axis polishing machine based on the small error compensation motion assumption, and establishing a comprehensive error compensation model for the five-axis polishing machine to achieve comprehensive error compensation. This invention, through kinematic analysis of a five-axis polishing machine, uses the homogeneous coordinate transformation method to establish a comprehensive error transformation matrix between the coordinate systems of each kinematic pair of the machine tool, spatially decoupling the position and direction error compensation of each motion axis of the five-axis polishing machine, and establishing a comprehensive error compensation model for the five-axis polishing machine, providing a theoretical basis for real-time comprehensive error compensation of a five-axis CNC polishing machine.

The invention relates to the technical field of corrugated paper processing equipment, and particularly discloses a corrugated paper efficient flat plate die cutting groove pressing machine which comprises a machine base, a paperboard conveying belt and a driving system driven by a power motor. The driving system transmits power to the downward pressing die cutting mechanism, the rotary drum material loading switching mechanism and the adsorption feeding mechanism through a first kinematic chain, a second kinematic chain and a third kinematic chain. According to the flat plate die-cutting groove pressing machine, through the design of the first kinematic chain, the second kinematic chain and the third kinematic chain in the driving system, precise linkage of the downward-pressing die-cutting mechanism, the rotary drum material loading switching mechanism and the adsorption feeding mechanism is achieved, and therefore a plurality of working procedures such as material grabbing, discharging, transposition, die cutting and discharging are integrated in a continuous motion cycle; the adsorption feeding device and the die cutting action are strictly synchronous, the dead time occupied by feeding and discharging in traditional equipment is eliminated, the continuous operation efficiency close to that of roller type die cutting can be achieved through flat plate die cutting, and the production efficiency is greatly improved.

This invention discloses a data glove for a teleoperation system and its control method. The data glove body is worn on the user's hand, and a signal transmission network is constructed between hand, wrist, and arm data units mounted on the glove body. Complete kinematic chain data from the shoulder joint to the finger joints is collected by each data unit and transmitted through the signal transmission network, including quaternion pose data and gesture data. The quaternion pose data is processed to obtain a spatial pose matrix, and the gesture data is processed using a gesture mapping algorithm to obtain a gesture sequence number. A master-slave mapping algorithm maps the workspace of the glove to the workspace of the slave device, thereby enabling the master device to freely control the slave robotic arm and execute specific complex task processes. This invention, through modular sensor layout and algorithm optimization, achieves precise, intuitive, and natural control of the slave robotic arm by the operator, reducing operational complexity and improving the user experience.

The invention relates to the technical field of digital twinning, and discloses a method and a system for detecting collision interference in an airborne product manufacturing production line, so as to reduce the technical threshold of debugging and improve the debugging efficiency and reliability. The method comprises the following steps: importing a three-dimensional model of each device, and extracting and setting identifiers, kinematic characteristics and kinematic chain relationships respectively corresponding to motion keys of each model; respectively constructing sequential logic of each virtual device by using different code-free instruction trees; creating a data association and transmission relationship between the virtual devices through the signal diagram; in the simulation process of linkage of algorithms mapped by the instruction trees, the motion keys of the virtual devices are automatically added into a moving part set, the motion keys with the kinematic chain in the moving part set are replaced with the kinematic chain, and then duplicate removal processing of the kinematic chain is carried out; and then, judging whether the motion keys or the motion chains after de-weighting of the moving part set collide and interfere with the static parts and other motion keys or motion chains in the moving part set one by one, and outputting an interference report.

The invention relates to a kind of multi-wheel chain suspension system suspension function calculation method, and belongs to the technical field of engineering machinery design.The calculation method of the invention is suitable for chain transmission trajectory movement in the same plane;the polygon effect of chain wheel and chain is not obvious, and can be calculated by using the index circle;the chain system presents rigid property and does not occur obvious deformation;the number of chain wheel is greater than or equal to 2;by establishing accurate geometric, mechanical and total length constraint equation set, a closed nonlinear system is formed.After reasonable initial prediction of the lowest point tension of catenary and the direction angle of chain wheel meshing point, the accurate value is obtained by iterative solution.The accurate equation of catenary of each section of chain in the system, the tension distribution along the chain and the sag at any position can be further calculated.The method has high precision and strong universality, can process chain wheel system with any number and arrangement, and provides an effective theoretical calculation tool for the design, tension optimization and state analysis of chain transmission.

This aircraft flight trim system comprises a friction module that has variable friction and is coupled on one side to a drive shaft and on the other side to an output shaft via a kinematic chain.The aircraft flight trim system has a control circuit which controls the friction module on the basis of an angular displacement value of the output shaft provided by a position sensor and on the basis of a force feedback control signal provided by a flight control computer.

Patient positioning device comprising: - a patient couch (2) which has a lying surface (2a) for one person, - a robot arm (3) with eight links and seven joints, which are arranged serially and alternately in a kinematic chain of the robot arm (3), - wherein the first link (4.1) in the kinematic chain of the robot arm (3) forms a base frame for attaching the robot arm (3) to a base (6), and the eighth link (4.8) in the kinematic chain of the robot arm (3) forms a mounting flange of a robot hand (7) of the robot arm (3) to which the patient bed (2) is attached, - the second link (4.2) is rotatably mounted on the first link (4.1) by means of the first joint (5.1) about a first, vertical axis of rotation (D1), - the third link (4.3) is rotatably mounted on the second link (4.2) by means of the second joint (5.2) about a second, vertical axis of rotation (D2), - the fourth link (4.4) is rotatably mounted on the third link (4.3) by means of the third joint (5.3) about a third, vertical axis of rotation (D3), - the fifth link (4.5) is rotatably mounted on the fourth link (4.4) by means of the fourth joint (5.4) about a fourth, horizontal axis of rotation (D4), - and the robot hand (7) of the robot arm (3) is attached to the fifth segment (4.5), which robot hand (7) includes the sixth segment (4.6), the seventh segment (4.7) and the eighth segment (4.8), as well as the fifth joint (5.5), the sixth joint (5.6) and the seventh joint (5.7) of the robot arm (3).

Certain aspects relate to systems and techniques for medical robotic systems that leverage a versatile, open kinematic chain together with a set of medical-procedure-specific software-controlled actuation constraints in order to perform a variety of medical procedures. The robotic system can be operated in a first mode by identifying a remote center and constraining the actuation of motorized joints to maintain intersection of at least an insertion axis with the remote center. The robotic system can be operated in a second mode by identifying a virtual rail position and constraining the actuation of motorized joints to maintain alignment of the insertion axis along the virtual rail.

The utility model belongs to the field of conveying equipment, and particularly relates to a membrane switch feeding device which comprises a machine frame, a plurality of rotating shafts are connected to the machine frame in a rotating mode, chain wheels are fixedly connected to the rotating shafts, chains are installed on the chain wheels, a motor is fixedly connected to the side face of the machine frame, and the output end of the motor is fixedly connected with the rotating shafts. A plurality of chain plates are installed on the chain, a support is fixedly connected to the chain plates, sliding grooves are formed in the two ends of the support, and sliding blocks are connected into the two sliding grooves in a sliding mode. During use, a rotating shaft, a chain wheel, a chain, a motor and a chain plate are mounted on a rack to form a plate chain type conveyor, the chain plate is driven by the motor to move, a support is mounted above the chain plate, clamping seats are mounted on two sides of the support, and the edge of a thin-film switch circuit board is clamped from two sides by the aid of the two clamping seats. Therefore, the thin-film switch circuit board is fixed, the transportation stability is improved, and conveying assembly and grabbing of other equipment are facilitated.

The invention relates to a method and device for determining an unreachable area of a reachable ball of a robot arm and a medium, and the method comprises the steps: extracting geometric parameters of a connecting rod in an arm kinematics chain and joint limiting parameters of joints, carrying out the random sampling according to the joint limiting parameters and a preset sampling density, and obtaining N groups of joint angle combinations, the sampling efficiency is high, joint angle combinations are uniformly distributed, then N point cloud data of an end effector of an arm kinematics chain are determined according to geometric parameters and N groups of joint angle combinations, so that the point cloud data are also uniformly distributed, the reachable ball determined according to the N point cloud data is high in accuracy, and the accuracy of the reachable ball is improved. According to the method, M verification points are randomly generated in the reachable ball, and inverse kinematics solution is performed on each verification point to obtain the unreachable points which do not meet the preset constraint conditions, so that the unreachable area can be accurately and efficiently determined according to the unreachable points, and data support is provided for robot motion planning, structure optimization and man-machine cooperation safety design.

The invention is applicable to the technical field of precision assembly robots, and provides a parallel arm and visual servo-based precision assembly robot mechanism which comprises a base, a parallel positioning module and a visual servo terminal. The parallel positioning module is installed on the base and controls a movable platform to move in multiple degrees of freedom through a central driving unit in a coupling mode, and the high-rigidity and accumulative-error-free positioning function similar to a parallel mechanism is achieved. And the visual servo terminal is integrated at the tail end of the movable platform and is used for identifying the pose of the workpiece. Through the synergistic effect of the central driving unit and the multiple lockable kinematic chains, a closed chain structure is formed, all the kinematic branch chains are driven by pose information fed back by the visual system, rapid and accurate approaching and self-adaptive clamping of a target workpiece in multiple directions and multiple angles in the space are achieved, and the clamping precision is improved. And the problem of assembly failure caused by uncertain workpiece poses in precise assembly is effectively solved.