WO2019126919A1 - 三自由度并联机构 - Google Patents

三自由度并联机构 Download PDF

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Publication number
WO2019126919A1
WO2019126919A1 PCT/CN2017/118208 CN2017118208W WO2019126919A1 WO 2019126919 A1 WO2019126919 A1 WO 2019126919A1 CN 2017118208 W CN2017118208 W CN 2017118208W WO 2019126919 A1 WO2019126919 A1 WO 2019126919A1
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WO
WIPO (PCT)
Prior art keywords
link
platform
branch
motion
parallel mechanism
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PCT/CN2017/118208
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English (en)
French (fr)
Inventor
赵国如
王永奉
韩立
孔祥战
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深圳先进技术研究院
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Application filed by 深圳先进技术研究院 filed Critical 深圳先进技术研究院
Priority to PCT/CN2017/118208 priority Critical patent/WO2019126919A1/zh
Publication of WO2019126919A1 publication Critical patent/WO2019126919A1/zh
Priority to US16/862,603 priority patent/US11203112B2/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C7/00—Connecting-rods or like links pivoted at both ends; Construction of connecting-rod heads
    • F16C7/02—Constructions of connecting-rods with constant length
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H21/00—Gearings comprising primarily only links or levers, with or without slides
    • F16H21/46—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions

Definitions

  • the invention belongs to the field of machinery, and in particular relates to a three-degree-of-freedom parallel mechanism.
  • the parallel robot Since the parallel robot was first proposed in 1938, it has been widely used in various fields of society because of its large rigidity, strong bearing capacity, small error, high precision, small self-weight load ratio, good dynamic performance and easy control. At present, there are 2 degrees of freedom, 3 degrees of freedom, 4 degrees of freedom, 6 degrees of freedom parallel mechanism, and the three degree of freedom parallel mechanism is the most researched and widely used type of less freedom parallel mechanism, which pushes the platform
  • the types of degrees of freedom can be divided into four categories: 3 rotary parallel mechanism, 2 rotary 1 mobile parallel mechanism, 1 rotary 2 mobile parallel mechanism, and 3 mobile parallel mechanism.
  • the parallel mechanism has four motion branches, wherein the lower end of the intermediate motion branch is fixed to the fixed platform, the upper end is connected with the center of the movable platform by the ball joint, and the other three motion branches are evenly distributed along the circumferential direction, and one end of the drive link is
  • the fixed platform is connected by a rotating pair, and the other end is connected with the passive connecting rod by a ball joint.
  • the end of the passive connecting rod is connected with the moving platform by a ball joint; the mechanism can be made around the center of the ball joint of the intermediate moving branch. The rotation of degrees of freedom.
  • the parallel mechanism is a 3-(HS)S/S type three-degree-of-freedom parallel mechanism.
  • the parallel mechanism also has four motion branches, wherein the lower end of the intermediate motion branch is fixed to the fixed platform, the upper end is connected with the center of the movable platform by the ball joint, the three motion branches are evenly distributed in the circumferential direction, and the bottom end adopts a
  • the spiral pair is connected with the fixed platform, and the angle between the axis of the screw pair and the fixed platform can be adjusted; in addition, one end of the support link and the slider on the screw pair are connected by a ball joint, and the other end is connected with the movable platform. They are connected by a ball joint; the mechanism can make three degrees of freedom of rotation around the center of the ball joint of the intermediate motion branch.
  • the motion pairs of the branches adopt standard motion pairs.
  • the axis of the rotating pair is always fixed during the movement, which is not conducive to the transmission of forces and moments by the motion branches;
  • the standard form of the motion pair because its axis of motion is fixed, it is not easy to avoid the singular configuration of the mechanism.
  • Embodiments of the present invention relate to a three-degree-of-freedom parallel mechanism that solves at least some of the deficiencies of the prior art.
  • Embodiments of the present invention relate to a three-degree-of-freedom parallel mechanism including a fixed platform and a moving platform, wherein the fixed platform and the moving platform are connected by a first motion branch, a second motion branch, and a third motion branch in parallel.
  • At least one of the motion branches of the first motion branch, the second motion branch, and the third motion branch is a smart type branch;
  • the smart type branch includes a first link a second link and an axis variable rotation pair, the axis variable rotation pair comprising a fixing member, a movable member and a ball joint pair, the fixing member being fixedly mounted on the fixed platform at one end and the other end
  • the movable member is slanted and abutted, the ball joint is received in the fixing member and the ball joint link passes through the movable member, and the first link and the ball hinge link and the
  • the second link is rotatably connected, and the second link is coupled to the movable platform ball.
  • the first motion branch, the second motion branch, and the third motion branch connection are both the smart type branch, the moving platform and three of the second
  • the connection point of the connecting rod is arranged annularly on the moving platform.
  • the three-degree-of-freedom parallel mechanism further includes an intermediate link, one end of which is fixed on the fixed platform and the other end is hingedly connected to the movable platform.
  • the first motion branch, the second motion branch and the third motion branch connection are disposed circumferentially around the intermediate link along the moving platform.
  • each of the smart type branches is connected with a driving unit, and the driving unit is connected to the corresponding first link or the second link.
  • the fixing member is assembled into a cylindrical structure when it coincides with the axis of the movable member.
  • the invention integrates the variable axis rotating pair into the structure of the moving branch, which is beneficial to the transmission of the force and torque of the moving branch, and on the other hand, can effectively avoid the parallel connection.
  • the institution has a strange configuration.
  • FIG. 1 is a schematic structural diagram of a three-degree-of-freedom parallel mechanism according to an embodiment of the present invention
  • FIG. 2 is a schematic structural view of a variable axis rotating pair according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a use state of a three-degree-of-freedom parallel mechanism according to an embodiment of the present invention.
  • the present embodiment provides a three-degree-of-freedom parallel mechanism, including a fixed platform 1 and a movable platform 2, wherein the fixed platform 1 and the movable platform 2 pass through a first motion branch and a second in parallel.
  • the motion branch and the third motion branch are connected. It is easy to understand that one end of the three motion branches is connected to the movable platform 2, and the other end is connected to the fixed platform 1.
  • At least one of the motion branches of the first motion branch, the second motion branch and the third motion branch is a smart type branch;
  • the smart type branch includes a first link 5 a second link 6 and an axis variable rotation pair 4, the axis variable rotation pair 4 including a fixing member 41, a movable member 42 and a ball joint pair 43, the fixing member 41 being fixedly mounted to the fixed platform at one end 1 and the other end is abutted against the movable member 42 , and the ball hinge pair 43 is received in the fixing member 41 and the ball joint link 431 passes through the movable member 42 .
  • a link 5 is rotatably connected to the ball joint link 431 and the second link 6, respectively, and the second link 6 is ball-joined to the movable platform 2.
  • the rotatably connected structure of the first link 5 and the ball joint link 431 and the rotatable connection structure of the first link 5 and the second link 6 are common rotating pairs, and the two rotatable connections
  • the rotation axes of the structure are generally parallel to each other, wherein the connecting shaft of the first link 5 and the ball joint link 431 is the axis of the ball joint link 431; preferably, the second link 6 and the movable platform 2 are
  • the hinge shaft of the ball joint structure is axially perpendicular to the movable platform 2
  • the rotation axes of the two rotatable connection structures corresponding to the first link 5 are also perpendicular to the movable platform 2.
  • the fixing member 41 and the movable member 42 are in a mating configuration, that is, one end of the fixing member 41 away from the fixed platform 1 has a slope, and the end of the movable member 42 away from the first link 5 also has a slope, two
  • the inclined faces are adapted to be able to fit each other; in an easy-to-understand manner, in order to facilitate the freedom of movement of the three-degree-of-freedom parallel mechanism, the two inclined faces are planes, and the two inclined faces each have an angle with the fixed platform 1.
  • the fixing member 41 and the movable member 42 are preferably hollow members, so that the ball hinge pair 43 can be housed therein. Specifically, as shown in FIG. 2, the ball socket of the ball hinge pair 43 is received in the fixing member 41.
  • the ball joint of the ball joint 43 is engaged with the ball socket, and the ball joint link 431 is coupled to the ball head, and the movable member 42 is separated from the hollow inner cavity of the movable member 42.
  • the fixing member 41 is assembled into a cylindrical structure when the axis of the movable member 42 coincides with the axis.
  • the slope of the movable member 42 is restricted from rotating on the slope of the fixing member 41 due to the action of the slope, and the axis of the ball joint link 431 changes in real time;
  • the angle at which the axis changes is related to the angle of inclination of the slope.
  • the first motion branch, the second motion branch, and the third motion branch link are both the smart type branches, and the moving platform 2
  • the connection point with the three said second links 6 is annularly arranged on the movable platform 2, and the three-degree-of-freedom parallel mechanism of the structure is more stable and reliable.
  • the three-degree-of-freedom parallel mechanism further includes an intermediate link 3, one end of which is fixed on the fixed platform 1 and the other end is hinged with the movable platform 2 connection. That is, four moving branches are installed between the movable platform 2 and the fixed platform 1.
  • the first moving branch, the second moving branch and the third moving branch are connected along the moving
  • the platform 2 is circumferentially disposed around the intermediate link 3, and the movable platform 2 is capable of three degrees of freedom of rotation about the center of the ball joint to which the intermediate link 3 is connected.
  • the three-degree-of-freedom parallel mechanism of the above structure is more stable and reliable; the three-degree-of-freedom parallel mechanism provided in this embodiment is a novel 3-RRRS/S type three-degree-of-freedom parallel mechanism, and the structure thereof is simple, and the moving platform 2 moves smoothly. Reliable, good force/torque transmission performance and high dexterity, can be applied to virtual axis machine tools, aerospace simulation equipment, medical equipment and other fields.
  • the movable platform 2 is a circular platform, and the center of the ball joint to which the intermediate link 3 is connected is preferably located on the central axis of the movable platform 2 (ie, the axis perpendicular to the movable platform 2).
  • each of the smart type branches is connected with a driving unit 7, and the driving unit 7 and the corresponding first link 5 or the second link 6 connection.
  • the action of the drive unit 7 causes a change in the relative position between the first link 5 and the second link 6 and a change in the axis of the corresponding axis variable rotation pair 4, thereby driving the movable platform 2 to move.
  • the driving unit 7 can adopt a driving motor, which drives the rotation of the rotating shaft between the first connecting rod 5 and the second connecting rod 6 to drive the positional changes of the first connecting rod 5 and the second connecting rod 6 as a feasible
  • the drive motor employs a micro motor mountable to one of the links.
  • the above-mentioned smart type branch structure is adopted, and the rotation of the movable platform 2 can be realized by the cooperation of the three drive units 7.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Transmission Devices (AREA)

Abstract

一种三自由度并联机构，包括定平台（1）、动平台（2）和三条运动支链，至少其中一条运动支链为灵动型支链；灵动型支链包括第一连杆（5）、第二连杆（6）和轴线可变转动副（4），轴线可变转动副（4）包括固定构件（41）、可动构件（42）和球铰副（43），固定构件（41）一端固定安装于定平台（1）上且另一端与可动构件（42）斜面配合贴靠，球铰副（43）收容于固定构件（41）中且其球铰连杆（431）穿出可动构件（42），第一连杆（5）分别与球铰连杆（431）及第二连杆（6）可转动连接，第二连杆（6）与动平台（2）球铰连接。该机构将变轴线转动副融于运动支链的构造中，一方面有利于运动支链进行力和力矩的传递，另一方面，可以有效地避免并联机构发生奇异位形。

Description

三自由度并联机构 技术领域
本发明属于机械领域，具体涉及一种三自由度并联机构。
背景技术
自1938年首次提出并联机器人以来，因其具较大刚度、较强的承载能力、误差小、精度高、自重负荷比小、动力性能好、控制容易等特点，广泛应用于社会的各个领域。目前，常见的有2自由度、3自由度、4自由度、6自由度并联机构，而其中三自由度并联机构是研究最多、应用最广的一类少自由度并联机构，它按动平台自由度的类型可以分为四类：3转动并联机构、2转动1移动并联机构、1转动2移动并联机构、3移动并联机构。
河北工业大学刘更谦教授等人提出一种踝关节康复机器人(CN200810052248.7)，该踝关节康复机器人的机型与燕山大学的赵铁石以及伦敦大学戴建生等人提出的踝关节康复机器人的机型一致，都是一种3-RSS/S型三自由度并联机构。该并联机构具有四个运动支链，其中，中间运动支链的下端固定于固定平台，上端采用球铰与动平台的中心连结，另外三个运动分支沿圆周方向均匀分布，驱动连杆一端与固定平台采用转动副连接，另一端与被动连杆之间采用球铰副连接，被动连杆的一端与动平台之间采用球铰连接；该机构可以绕中间运动支链的球铰中心做三个自由度的转动。
深圳先进技术研究院的王永奉等人提出一种踝关节康复机器人(CN102631275A)，该并联机构是一种3-(HS)S/S型三自由度并联机构。该并联机构同样具有四个运动支链，其中，中间运动支链的下端固定于固定平台，上端采用球铰与动平台的中心连结，三个运动分支沿圆周方向均匀分布，其底 端采用一个螺旋副与固定平台连接，螺旋副的轴线与固定平台之间的夹角可以进行调整；另外，支撑连杆的一端与螺旋副上的滑块之间采用球铰连接，另一端与动平台之间采用球铰形式连接；该机构可以绕中间运动支链的球铰中心做三个自由度的转动。
这些三自由度并联机构中，支链的运动副都采用标准形式的运动副，如转动副的轴线在运动过程中始终是固定不变的，这不利于运动支链进行力和力矩的传递；另外，标准形式的运动副，因为其运动轴线固定，不容易避开机构的奇异位形。
发明内容
本发明实施例涉及一种三自由度并联机构，至少可解决现有技术的部分缺陷。
本发明实施例涉及一种三自由度并联机构，包括定平台和动平台，所述定平台与所述动平台通过并联的第一运动支链、第二运动支链和第三运动支链连接，所述第一运动支链、所述第二运动支链与所述第三运动支链连接中，至少其中一条运动支链为灵动型支链；所述灵动型支链包括第一连杆、第二连杆和轴线可变转动副，所述轴线可变转动副包括固定构件、可动构件和球铰副，所述固定构件一端固定安装于所述定平台上且另一端与所述可动构件斜面配合贴靠，所述球铰副收容于所述固定构件中且其球铰连杆穿出所述可动构件，所述第一连杆分别与所述球铰连杆及所述第二连杆可转动连接，所述第二连杆与所述动平台球铰连接。
作为实施例之一，所述第一运动支链、所述第二运动支链和所述第三运动支链连接均为所述灵动型支链，所述动平台与三个所述第二连杆的连接点在该动平台上环形布置。
作为实施例之一，该三自由度并联机构还包括中间连杆，所述中间连杆一端固定于所述定平台上且另一端与所述动平台球铰连接。
作为实施例之一，所述第一运动支链、所述第二运动支链与所述第三运动支链连接沿所述动平台周向环绕所述中间连杆设置。
作为实施例之一，每一所述灵动型支链连接有一驱动单元，所述驱动单元与对应的所述第一连杆或所述第二连杆连接。
作为实施例之一，所述固定构件与所述可动构件轴线重合时拼凑成一圆柱体结构。
本发明实施例至少具有如下有益效果：
在灵动型支链中，第一连杆带动球铰连杆转动时，由于斜面的作用，限制可动构件的斜面在固定构件的斜面上转动，而且导致球铰连杆的轴线实时变化。相对于普通转动副结构的运动支链，本发明将变轴线转动副融于运动支链的构造中，一方面有利于运动支链进行力和力矩的传递，另一方面，可以有效地避免并联机构发生奇异位形。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。
图1为本发明实施例提供的三自由度并联机构的结构示意图；
图2为本发明实施例提供的轴线可变转动副的结构示意图；
图3为本发明实施例提供的三自由度并联机构的使用状态示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。
如图1-图3，本实施例提供一种三自由度并联机构，包括定平台1和动平台2，所述定平台1与所述动平台2通过并联的第一运动支链、第二运动支链和第三运动支链连接，易于理解地，该三条运动支链的一端与动平台2连接，另一端与定平台1连接。
所述第一运动支链、所述第二运动支链与所述第三运动支链连接中，至少其中一条运动支链为灵动型支链；所述灵动型支链包括第一连杆5、第二连杆6和轴线可变转动副4，所述轴线可变转动副4包括固定构件41、可动构件42和球铰副43，所述固定构件41一端固定安装于所述定平台1上且另一端与所述可动构件42斜面配合贴靠，所述球铰副43收容于所述固定构件41中且其球铰连杆431穿出所述可动构件42，所述第一连杆5分别与所述球铰连杆431及所述第二连杆6可转动连接，所述第二连杆6与所述动平台2球铰连接。其中，上述第一连杆5与球铰连杆431的可转动连接结构以及该第一连杆5与第二连杆6的可转动连接结构均为普通的转动副，该两个可转动连接结构的转轴一般是相互平行的，其中，第一连杆5与球铰连杆431的连接转轴即为该球铰连杆431的轴线；作为优选，在上述第二连杆6与动平台2的球铰连接结构的铰轴轴向与该动平台2垂直时，上述第一连杆5所对应的两个可转动连接结构的转轴轴向也与该动平台2垂直。上述固定构件41与可动构件42为斜面配合 结构，即该固定构件41的远离定平台1的一端具有一斜面，该可动构件42的远离第一连杆5的一端也具有一斜面，两个斜面适配从而能够相互贴合；易于理解地，为便于本三自由度并联机构的动作自由，该两个斜面均是平面，该两个斜面均与定平台1具有一夹角。上述的固定构件41和可动构件42均优选为是中空构件，从而上述球铰副43能够收容于内，具体地说，如图2，该球铰副43的球窝收容于该固定构件41中，该球铰副43的球头与该球窝配合，所述球铰连杆431连接于该球头上，且自该可动构件42的中空内腔穿出该可动构件42的远离固定构件41的端部；作为优选，上述固定构件41与可动构件42均是柱形构件，则该球窝与该固定构件41优选为同轴设置，该球铰连杆431与该可动构件42优选为同轴设置。进一步优选地，所述固定构件41与所述可动构件42轴线重合时拼凑成一圆柱体结构。
上述第一连杆5带动球铰连杆431转动时，由于斜面的作用，限制可动构件42的斜面在固定构件41的斜面上转动，而且导致球铰连杆431的轴线实时变化；这种轴线变化的角度与该斜面的倾斜角度有关。相对于普通转动副结构的运动支链，本发明将变轴线转动副融于运动支链的构造中，一方面有利于运动支链进行力和力矩的传递，另一方面，可以有效地避免并联机构发生奇异位形。
作为优选地实施例，如图1和图3，所述第一运动支链、所述第二运动支链和所述第三运动支链连接均为所述灵动型支链，所述动平台2与三个所述第二连杆6的连接点在该动平台2上环形布置，该结构的三自由度并联机构运行更为平稳可靠。
进一步优选地，如图1和图3，该三自由度并联机构还包括中间连杆3，所述中间连杆3一端固定于所述定平台1上且另一端与所述动平台2球铰连 接。即在动平台2与定平台1之间安装有4条运动支链，作为优选，所述第一运动支链、所述第二运动支链与所述第三运动支链连接沿所述动平台2周向环绕所述中间连杆3设置，动平台2能够绕该中间连杆3所连接的球铰中心做三个自由度的转动。上述结构的三自由度并联机构运行更为平稳可靠；本实施例提供的三自由度并联机构是一种新型的3-RRRS/S型三自由度并联机构，其结构简单，动平台2运动平稳可靠，力/力矩传递性能好、灵巧度高，可应用于虚轴机床、航空模拟设备、医疗设备等领域。作为实施例之一，上述动平台2为圆形平台，该中间连杆3所连接的球铰中心优选为位于该动平台2的中轴线(即垂直于该动平台2的轴线)上。
作为优选地实施例，如图1和图3，每一所述灵动型支链连接有一驱动单元7，所述驱动单元7与对应的所述第一连杆5或所述第二连杆6连接。通过驱动单元7作用，引起第一连杆5与第二连杆6之间相对位置的变化以及对应的轴线可变转动副4的轴线变化，进而带动动平台2运动。优选地，该驱动单元7可采用驱动电机，其带动第一连杆5与第二连杆6之间的转轴转动，带动第一连杆5与第二连杆6的位置变化；作为可行的实施例，该驱动电机采用可安装于其中一连杆上的微型电机。对于第一运动支链、第二运动支链和第三运动支链均采用上述灵动型支链的结构，通过三个驱动单元7的配合，可以实现所需的动平台2的转动动作。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (6)

  1. 一种三自由度并联机构，包括定平台和动平台，所述定平台与所述动平台通过并联的第一运动支链、第二运动支链和第三运动支链连接，其特征在于：所述第一运动支链、所述第二运动支链与所述第三运动支链连接中，至少其中一条运动支链为灵动型支链；
    所述灵动型支链包括第一连杆、第二连杆和轴线可变转动副，所述轴线可变转动副包括固定构件、可动构件和球铰副，所述固定构件一端固定安装于所述定平台上且另一端与所述可动构件斜面配合贴靠，所述球铰副收容于所述固定构件中且其球铰连杆穿出所述可动构件，所述第一连杆分别与所述球铰连杆及所述第二连杆可转动连接，所述第二连杆与所述动平台球铰连接。
  2. 如权利要求1所述的三自由度并联机构，其特征在于：所述第一运动支链、所述第二运动支链和所述第三运动支链连接均为所述灵动型支链，所述动平台与三个所述第二连杆的连接点在该动平台上环形布置。
  3. 如权利要求1所述的三自由度并联机构，其特征在于：还包括中间连杆，所述中间连杆一端固定于所述定平台上且另一端与所述动平台球铰连接。
  4. 如权利要求3所述的三自由度并联机构，其特征在于：所述第一运动支链、所述第二运动支链与所述第三运动支链连接沿所述动平台周向环绕所述中间连杆设置。
  5. 如权利要求1所述的三自由度并联机构，其特征在于：每一所述灵动型支链连接有一驱动单元，所述驱动单元与对应的所述第一连杆或所述第二连杆连接。
  6. 如权利要求1所述的三自由度并联机构，其特征在于：所述固定构件与 所述可动构件轴线重合时拼凑成一圆柱体结构。
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