| 摘要 |
<p>A spatial double-rotation and one-translation parallel device is formed of a fixed support, a movable platform, a spatial axle and three same branch chains which are spatially arranged symmetrically between said fixed support and the movable platform. Each branch chain is formed of a connecting rod, a straight guide rail, a driving device and a draw plate, while the straight guide rail and the driving device are respectively fixed on the connecting rod; one end of the connecting rod connects with said movable platform via a hinge with three rotation freedoms; said draw plate connects with the straight guide rail via a movable couple, and connects with the fixed support via a hinge with one rotation freedom. The device integrates the straight guide rail and the connecting rod so as to effectively reduce the size of fixed rod along the straight guide rail, to reduce the weight of whole module, with same freedom and rigidity.</p> |
