41results about How to "High rotational freedom" patented technology

The invention relates to a cutter head structure of a detachable electric shaver, comprising a plurality of cutter blade assemblies capable of rotatably cutting, and the cutter blade assemblies are injoggled connection with a central transmission gearwheel on a main support by respective transmission unit. The cutter head structure is characterized in that the main support is sleeved on the lowercover of the main support, whereas the lower cover of the main support is connected with a cutter blade connecting seat by spherical coordination; and an elastic element is supported between the mainsupport and the cutter blade connecting seat. The cutter head structure has big rotational degree of freedom, simple and practical structure and easy manufacture.

The invention provides a six-degree-of-freedom bionic mechanical arm. The bionic mechanical arm comprises a shoulder joint, an elbow joint and a wrist joint which are connected in sequence, wherein alarge arm part is arranged between the shoulder joint and the elbow joint, a forearm part is arranged between the elbow joint and the wrist joint, and a bionic palm is arranged at the tail end of thewrist joint. Six rotating devices are arranged to achieve the six rotating degrees of freedom of the bionic mechanical arm respectively to simulate a series of motions of a human arm such as the opening of shoulders, the swing and self-rotation of the large arm part, the swing and self-rotation of the forearm part, and the swing of the palm, and all motions do not interfere with each other. The bionic mechanical arm has the advantages of high control precision, high motion freedom degree, and compact structure. Artificial skin is arranged on the outer side surfaces of the large arm part and the forearm part, therefore the load borne by the large arm part and the forearm part in contact with a human body can be detected and fed back in real time, and the safety performance is improved.

The invention discloses a five-axis linkage laser 3D (Three Dimensional) metal printer. The five-axis linkage laser 3D metal printer comprises a base, wherein the base is provided with a Y-axis sliding guide rail, a Y-axis ball screw and a portal frame; a worktable is arranged on the Y-axis sliding guide rail and the Y-axis ball screw; a Z-axis sliding guide rail and a Z-axis ball screw are mounted on the portal frame; Z-axis sliding blocks are mounted on the Z-axis sliding guide rail and the Z-axis ball screw; an X-axis ball screw and an X-axis sliding guide rail are mounted on the Z-axis sliding blocks; an X-axis sliding block is mounted on the X-axis ball screw and the X-axis sliding guide rail; the X-axis sliding block is provided with a Z-axis rotary motor through a fixing device; theZ-axis rotary motor is connected with a Y-directional rotary motor through a connecting device II; the Y-directional rotary motor is connected with a laser head through a connecting device I. According to the five-axis linkage laser 3D metal printer disclosed by the invention, a common three-axis feeding printer can be used for rapidly printing metal parts and repairing of damaged parts also canbe finished.

The invention discloses a massage robot actuating mechanism, and relates to the field of medical machines. A main mechanism is formed by serially connecting two translational guide rails with a five degree-of-freedom mechanical arm, a two degree-of-freedom parallel mechanism comprising a translational mechanism and a rotary mechanism, and a crank rocker mechanism. The massage robot actuating mechanism comprises a sliding pair A (16) of the two translational guide rails, a sliding pair B (17) of the two translational guide rails, a fixed platform (14), a moving platform (9), the parallel mechanism and a planer rocker mechanism. The two translational guide rails are matched with the two degree-of-freedom parallel mechanism comprising the translational mechanism and the rotary mechanism and the crank rocker mechanism to complete actions such as rolling, pressing, rubbing, vibrating and patting in massage manipulation together. The mechanism has the advantages of simple and compact structure, high rigidity, flexible rotation, good dynamic performance, large pivot angle of the moving platform, low degree of freedom, simple kinematics analysis and easy real-time control.

The invention provides a full-automatic material and bag arranging type packing machine, belongs to the technical field of packing machines, and aims at overcoming the shortages of low automation degree, low production efficiency and high labor input in the prior art. The machine comprises a packing bag absorbing part which is arranged on a rack, a culture material bagging part which is arranged above the packing bag absorbing part, a packing sealing part which is arranged at one side of the culture material bagging part, and a culture material bagged product outlet part which is formed in oneend of the packing sealing part, wherein a display screen for human-machine interaction and a PLC control box are arranged beside the culture material bagged product outlet part. Compared with the prior art, the machine has the advantages of being high in automation degree, high in production efficiency, and low in labor input cost; the machine is applicable to packing bag arranging, etc., and particularly applicable to the environment of massive bagging of edible mushroom culture materials.

The invention discloses a vertical axis wind turbine capable of continuously keeping the effective attack angle of blades. The vertical axis wind turbine comprises an output shaft, a supporting frame, the blades, an attack angle adjusting device and a wind alignment device, wherein the supporting frame is fixedly connected with the output shaft and drives the output shaft to rotate, the blades are installed on the supporting frame through rotation of a rotating shaft and push the supporting frame to drive the output shaft to rotate, the attack angle adjusting device is used for adjusting the attack angle of the blades, and the wind alignment device is used for driving the attack angle adjusting device to rotate to achieve wind alignment. The attack angle adjusting device comprises at least one attack angle adjusting guide rail and at least one attack angle adjusting crank (8), wherein the attack angle adjusting guide rail is installed on the wind alignment device and is in a standard circular shape. The attack angle adjusting guide rail surrounds the axis of the output shaft. The blades are rotationally connected to the supporting frame. One end of the attack angle adjusting crank (8) is fixedly connected with the blades, and the other end of the attack angle adjusting crank (8) is arranged on the attack angle adjusting guide rail in a sliding mode. The vertical axis wind turbine can effectively increase the utilization rate of wind energy and is easy to manufacture, low in cost and convenient to maintain.

The invention discloses numerical control molding equipment based on an FDM (fused deposition modeling) technique. The numerical control molding equipment comprises an X-Y-Z axial translation component, an A-B-C axial rotating component and an electric control component, wherein the X-Y-Z axial translation component comprises a base, a frame, a material extruder, an X-direction linear guide track, a Y-direction linear guide track, a Z-axis lifting platform and a Z-axis screw rod stepper motor; the A-B-C axial rotating component comprises an A-axis motor base, an A-axis stepper motor, a B-axis motor rotating base, a B-axis stepper motor, a C-axis motor bracket, a C-axis stepper motor and a working chassis; the A-axis motor base is fixed on a sliding block of the Y-direction linear guide track; the A-axis stepper motor is mounted on the A-axis motor base and is used for driving the B-axis motor rotating base to rotate around an A-axis; the B-axis stepper motor is mounted on the B-axis motor rotating base and is used for driving the C-axis motor bracket to rotate around a B-axis; the C-axis stepper motor is mounted on the C-axis motor bracket and is used for driving the working chassis to rotate around a C-axis.

The invention relates to a cutter head structure of a detachable electric shaver, comprising a plurality of cutter blade assemblies capable of rotatably cutting, and the cutter blade assemblies are in joggled connection with a central transmission gearwheel on a main support by respective transmission unit. The cutter head structure is characterized in that the main support is sleeved on the lower cover of the main support, whereas the lower cover of the main support is connected with a cutter blade connecting seat by spherical coordination; and an elastic element is supported between the main support and the cutter blade connecting seat. The cutter head structure has big rotational degree of freedom, simple and practical structure and easy manufacture.

The invention discloses a short-circuit grounding wire clamp capable of realizing rapid assembly and disassembly. The wire clamp comprises a hook-shaped wire clamp main body, an insulating operating rod, a screw rod connector, a clamping screw rod, a clamping mechanism, a wiring terminal fixing seat, a wiring terminal and a grounding lead. A hook-shaped wire clamp threaded female seat is arranged in the hook-shaped wire clamp main body; and the clamping screw rod rotatably penetrates through the hook-shaped wire clamp threaded female seat, the clamping screw rod is engaged with the hook-shaped wire clamp threaded female seat through threads, and the clamping mechanism is arranged in the hook-shaped wire clamp main body and is arranged on the clamping screw rod. The invention relates to the technical field of electric power facility maintenance, and particularly provides the short-circuit grounding wire clamp capable of realizing rapid assembly and disassembly. The wire clamp is capable of quickly hooking and dismounting a grounding wire by adopting the intermittent meshing characteristic of an incomplete gear mechanism on the premise that the original operation habit of the spiral grounding wire is not changed, has the advantages of simple structure, high efficiency in mounting and dismounting operation and simplicity in operation, and can effectively solve the problems that an existing spiral grounding wire is long in operation time, low in efficiency, large in operation risk and the like.

The invention provides a spraying robot mechanical arm with five freedom degrees. A base box is included, and an upper end port of the base box is closed for covering through a box cover bearing pedestal; a rotating disk is rotationally supported on the middle portion of the box cover bearing pedestal; the base box is provided with a driving motor and a speed reducer; the output end of the drivingmotor is connected with the input end of the speed reducer; the output end of the speed reducer is connected with the rotating disk; a lower arm joint is vertically fixed to the upper end face of therotating disk; the upper end of the lower arm joint is hinged to the lower end of a middle arm joint; an upper arm joint used for installing a spraying device is hinged to the upper end of the middlearm joint; a first hydraulic cylinder is hinged to one side of the lower portion of the lower arm joint; the top end of a piston rod of the first hydraulic cylinder is hinged to one side of the middle portion of the middle arm joint; a second hydraulic cylinder is hinged to the other side of the middle portion of the middle arm joint; and the top end of a piston rod of the second hydraulic cylinder is hinged to the upper arm joint. According to the spraying robot mechanical arm with the five freedom degrees, the rotating disk is driven by a stepping motor, in combination with large-angle rotating formed by the structures of the upper, middle and lower three arm joints, the rotating freedom degree of the mechanical arm is improved, rotating of the spraying robot mechanical arm in all directions is flexible, using is flexible and convenient, and the automation degree is high.

The invention discloses environment-friendly wood processing sawdust treatment equipment for forestry engineering and belongs to the technical field of wood processing equipment. The environment-friendly wood processing sawdust treatment equipment for forestry engineering comprises a sawdust machine body, wherein a first rotating shaft is rotationally connected onto a feeding port; an L-shaped frame is connected onto the first rotating shaft; a first conveying roller and a second conveying roller are rotationally arranged on the L-shaped frame; a mounting cavity is formed in the L-shaped frame; a first belt pulley and a second belt pulley are rotationally connected; a first driving part is arranged in the mounting cavity; a first swinging plate is connected onto the first rotating shaft; aconveying mechanism is arranged at the bottom of the feeding port; a driving shaft is rotationally connected into a driving roller; a second swinging plate matched with the first swinging plate is connected onto the driving shaft; a snail-shaped pattern is arranged on the driving shaft; an expansion belt pulley is slidably arranged on a positioning disc; a pattern groove is formed in the expansion belt pulley; and a second driving part is arranged at the bottom of the feeding port. According to the environment-friendly wood processing sawdust treatment equipment, the conveying rollers positioned at the top are utilized for adjusting the conveying speed and strength of a conveyor belt according to the diameter of wood, so that the wood can be crushed smoothly.

The invention discloses a test device for communication equipment. The test device comprises a box; the lower end surface of the box is provided with a plurality of movable casters; an open cavity with a leftwards-facing opening is formed in the left end surface of the box; a guiding shaft is fixed between the upper end wall and lower end wall of the open cavity; a motor-driven conveying synchronous belt frame A is disposed at the right side of the guiding shaft; the outer surface of the guiding shaft is slidably provided with a sliding block fixed to the synchronous belt of the conveying synchronous belt frame A; the sliding block protrudes leftwards so as to extend to the outside space; the left end surface of the box is provided with a working plate; and the working plate is in hinged matching with the box through a hinge chain. The test device of the invention is relatively simple in structure and convenient to use. The working plate and a test data display are controlled to automatically extend out by means of an automatic means; the connection and disconnection of data are controlled by means of a physical means; the settings of interfaces and the complexity of lines are decreased; the input of manpower and material resources is greatly reduced; and the usability and stability of the test device for the communication equipment are effectively improved.

The invention discloses a sport injury detection device and system. The sport injury detection device comprises a compound rotation support and a control unit, wherein the compound rotation support isused for enabling a first balance plate and a second balance plate to rotate on a vertical plane and a horizontal plane; two angular sensors are arranged on the compound rotation support; pressure sensor groups are uniformly distributed on tops of the first balance plate and the second plate; the control unit is used for comparing a posture information difference value of the upper body, a pressure information difference value of two feet, a vertical rotary angle difference value and a horizontal direction rotary angle difference value with corresponding standard unbalanced critical values, and predicting the sport injury situation by combining with balance restore state information and conventional balance state information. According to the compound rotary support, of the sport injury detection device, the balance plates can rotate on two planes and have large rotational freedom, sport injury prediction results can be determined by combining the upper body balance information and lower limb balance information and introducing the balance restore state information, so that the sport injury prediction result of balance training can be accurate and reliable.

The three-translation and one-rotation parallel mechanism consists of one static platform, one movable platform and four moving branch chains. The first and the third branch chains have their swinging control arms connected separately through one rotation pair II or IV to the static platform and the parallelogram hinge, which is connected via the rotation pair VII to the movable platform. The second and the fourth branch chains have their swinging control arms connected separately to the rotation pair II or IV. The rotation axis of the rotation pair I connecting the four branch chains and the static platform is in the XOY plane. Between the rotation pair II and IV and the movable platform, there are one increased connecting rod and one rotation pair IX, and the connecting rod is connected to the rotation pair VII and the movable platform via the rotation pair IX. The axis of the rotation pair IX is perpendicular to that of the rotation pair VII, and coaxial or heteroaxial arrangement may be adopted.

The invention discloses a table. The table includes a case body; the lower end face of the case body is provided with multiple universal wheels; an opening cavity having an opening facing left is fixedly arranged in the left end face of the case body; a sliding shaft is fixedly arranged between the upper and lower end walls of the opening cavity; a conveying synchronous belt rack driven by a motoris arranged on the right side of the sliding shaft; the outer surface of the sliding shaft is slidingly provided with a slide block fixed on a synchronous belt of the conveying synchronous belt rack;the slide block extends to external space towards the left; the left end face of the case body is provided with a table plate; the table plate is in hinged joint with the case body through hinges; the lower end face of the table plate is fixedly provided with a hinge block; the hinge block is rotatably connected to a connecting rod; and the connecting rod is rotatably connected to the slide block. The table is reasonable in structure and design and convenient to use; and the table can control the automatic extension of the table plate and a display screen by adopting an automatic form, and can control power on and off by adopting physical means, and therefore, the practicality of the table can be effectively enhanced, and modernized use demands can be met.

The invention provides shelling machinery and a shelling method capable of reducing surface damage of walnut kernels, and relates to the field of agricultural machinery. The shelling machinery comprises a machine frame, a feed opening, a main shelling roller, and an auxiliary shelling roller group, wherein the auxiliary shelling roller group comprises a first auxiliary shelling roller group and a second auxiliary shelling group which are arranged on two sides of the main shelling roller side by side; either one of the first auxiliary shelling group and the second auxiliary shelling group comprises six auxiliary shelling rollers which are sequentially arrayed from top to bottom; the spaces of the six auxiliary shell rollers in the first auxiliary shelling group and the main shelling roller are in step changes; and the outer surface of the main shelling roller, the outer surface of each auxiliary shelling roller in the first auxiliary shelling roller group, and the outer surface of each auxiliary shelling roller in the second auxiliary shelling group are all subjected to rubber coating treatment. The shelling machinery and the shelling method disclosed by the invention have the advantages that the surface damage of the walnut kernels in a mechanized shelling process can be effectively reduced, the processing efficiency is high and the operation is facilitated.

The invention discloses a full-ring complete machine device. The full-ring complete machine device comprises a stander, a rotary detection mechanism, a driving mechanism and a wire-wrapping drag chainmechanism, wherein the rotary detection mechanism is rotatably arranged at the stander, and a rotation axis of the rotary detection mechanism is arranged along the horizontal direction; the driving mechanism is arranged at the stander, an output end of the driving mechanism is connected with the rotary detection mechanism, and the driving mechanism is used for driving the rotary detection mechanism to rotate; and the wire-wrapping drag chain mechanism is arranged at the stander and is used for carrying out stretching-shrinking protection on cables. The invention aims at providing the full-ring complete machine device capable of protecting the cables of a device, and the situation that the cables are damaged due to rotary dragging is avoided.

The invention relates to a side air curtain protection system and a vehicle. The vehicle comprises a vehicle body, a sensor and a controller, wherein the sensor and the controller are arranged in thevehicle body, a side air curtain protection system is arranged at a window frame of the vehicle body and comprises a side air curtain assembly arranged on the inner side of the vehicle body, the sideair curtain assembly comprises an air bag and a gas generating device, the air bag can shield at least part of the window when being expanded, and when the sensor detects a specific vehicle driving condition, a signal can be sent to the controller, and the controller controls the gas generating device to inflate the air bag. When the sensor detects that the vehicle rolls over, a signal is sent tothe controller, the controller controls the gas generating device to supply gas into the air bag, the air bag is inflated, expands and covers at least part of the window, a net-shaped structure is formed between the two opposite side edges after the air bag is expanded, the air bag is located on the inner side of the side wall of the vehicle body, even if the side window glass is damaged in the rollover process, the net-shaped structure formed by the air bag can prevent passengers from being thrown out of the side window, and secondary injuries to the passengers are prevented.

The invention discloses a vertical axis wind turbine capable of continuously keeping the effective attack angle of blades. The vertical axis wind turbine comprises an output shaft, a supporting frame, the blades, an attack angle adjusting device and a wind alignment device, wherein the supporting frame is fixedly connected with the output shaft and drives the output shaft to rotate, the blades are installed on the supporting frame through rotation of a rotating shaft and push the supporting frame to drive the output shaft to rotate, the attack angle adjusting device is used for adjusting the attack angle of the blades, and the wind alignment device is used for driving the attack angle adjusting device to rotate to achieve wind alignment. The attack angle adjusting device comprises at least one attack angle adjusting guide rail and at least one attack angle adjusting crank (8), wherein the attack angle adjusting guide rail is installed on the wind alignment device and is in a standard circular shape. The attack angle adjusting guide rail surrounds the axis of the output shaft. The blades are rotationally connected to the supporting frame. One end of the attack angle adjusting crank (8) is fixedly connected with the blades, and the other end of the attack angle adjusting crank (8) is arranged on the attack angle adjusting guide rail in a sliding mode. The vertical axis wind turbine can effectively increase the utilization rate of wind energy and is easy to manufacture, low in cost and convenient to maintain.

The invention relates to the technical field of building curtain wall systems, in particular to design of hidden-frame doors and windows. According to the technical scheme, a connecting device suitable for a hidden frame door and window comprises an inner piece, an outer piece and a frame, the frame comprises a first frame body and a second frame body, and the outer piece is in three-section connection and comprises a first movable piece body, a fixed piece body and a second movable piece body; and the two ends of the fixed piece body are hinged to the first movable piece body and the second movable piece body respectively, the inner piece is rotationally connected with the fixed piece body, the first frame body is rotationally connected with one end of the inner piece and one end of the outer piece, and the second frame body is rotationally connected with the other end of the inner piece and the other end of the outer piece. By means of the connecting device, the door and window can rotate more stably through double-shaft rotating connection, and the degree of freedom of the rotating range is larger.

The invention provides a milling method and indexing clamp for cooling grooves on the inner wall of a large-diameter water-cooled jacket. The indexing clamp comprises a driving roller carrier body and a driven roller carrier body, and the two roller carrier bodies are symmetrically mounted according to the diameter of a large-diameter water-cooled jacket workpiece so as to support and clamp the workpiece; and the roller frame bodies comprise frame bodies, pressing bolts, connecting bolts, tensioning rods, bearing upper covers, bearing end covers, bearings, rollers, pointers, cushion blocks, fixing bolts and positioning bolts. A common three-axis vertical milling machine can be used for cooperating with the indexing clamp to machine the cooling grooves on the inner wall of the large-diameter water-cooled jacket, the indexing clamp can stably clamp rotary workpieces of different specifications and can drive the workpieces to rotate in the machining process, a Y-axis rotation freedom degree is increased, the pointers on the clamp are aligned with workpiece scale marks, the machining precision can be guaranteed, and the manufacturing cost can be reduced.

The invention discloses a cloth cotton pendulum machine and a uniformity compensation method thereof. The cloth cotton pendulum machine includes a frame, a pendulum body, a rocker fork, a rocker rod, a crank and a driving device; the pendulum body is mounted on the frame through a bearing structure and can swing back and forth; one end of the rocker fork passes through The bearing is connected with the pendulum body, and the other end is connected with one end of the rocker arm through the pin shaft, and the rocker fork and the rocker arm constitute the rocker arm mechanism; the other end of the rocker arm is connected with one end of the crank through a rolling bearing, and the other end of the crank Installed on the rotating shaft of the drive unit. The cloth cotton pendulum machine of the present invention simplifies the eccentric wheel mechanism into a crank structure, reduces the weight of the equipment itself and reduces the processing cost; improves the integrated structure of the rocker arm, and adds a One degree of freedom of rotation enables the two to rotate around the connecting shaft, which can effectively reduce the internal stress of the rocker arm structure; the method for compensating the uniformity of the cotton cloth pendulum machine of the present invention improves the uniformity of the pendulum cloth cloth.

The invention discloses a rigid-flexible coupling parallel robot multi-color spraying experimental device and a spraying method, including a rigid support, a pull-type drive assembly, an end effector, a rigid spring telescopic rod assembly, a 360° rotary joint assembly, and a multi-color rectangular spray gun Components and electromechanical control system parts; the rigid support provides overall support for the robot; the pull-type drive assembly provides driving force for the end effector, and the upper end of the end effector is connected to the top cross universal joint of the rigid support through a rigid spring telescopic rod assembly. The rigid spring telescopic rod assembly realizes the passive tensioning of the end effector through the spring and the telescopic rod. The 360° swivel joint assembly adds a rotational degree of freedom to the end effector. One-color rectangular spray gun assembly, the spray gun assembly can carry out multi-color spraying and prevent paint from overspraying. The invention can complete the automatic spraying of multi-color patterns on the surface of three-dimensional workpieces, and monitor the spraying quality in real time.

The invention discloses a bionic flexible spine bearing system. The system comprises an elastic rope, two wire sheaths and a vertebral body support set, wherein the vertebral body support set comprises a shoulder vertebral body support, a first set of middle-section vertebral body supports, a chest vertebral body support, a second set of middle-section vertebral body supports and a waist connecting support which are sequentially connected in a sitting and sleeving mode from top to bottom, the elastic rope penetrates through the center of the vertebral body support set so as to be tightly connected with each vertebral body support in the vertebral body support set, and the two wire sheaths penetrate through the two sides of the center of the vertebral body support set respectively so as tocontrol the rotating rigidity of each vertebral body support in the vertebral body support set. According to the bionic flexible spine bearing system, by arranging the elastic rope and the wire sheaths on the two sides, all the vertebral body supports are connected, the spine structure is simulated, the rotation freedom degree of the back and the waist is increased, the movement flexibility is kept, meanwhile, loads are effectively dispersed and transmitted to the hips, and the shoulder pressure is reduced.

The invention relates to a cutting-shaped unmanned aerial vehicle frame with a stable arm, one end of the upper swing arm and the lower swing arm is rotatably connected to the fuselage, and the other end of the upper swing arm and the lower swing arm is rotatably connected to the motor frame; The middle part of the upper swing arm is provided with a strip-shaped swing groove A, and the middle part of the lower swing arm is provided with a strip-shaped swing groove B. An elastic pull rod is connected between the upper swing arm and the lower swing arm, and one end of the elastic pull rod is fixed to the The front end of the swing slot A and the other end of the elastic pull rod are fixed to the rear end of the swing slot B; a set of transmission swing arms are rotatably connected to the top of the motor frame, and the transmission swing arms include a swing arm shell and a transmission assembly arranged in the swing arm shell , the power input wheel and the power output wheel are connected by a belt drive; a cantilever is also connected to the swing arm shell, a feedback motor is arranged in the middle of the fuselage, a feedback wheel is fixed on the output shaft of the feedback motor, and a ring is formed on the feedback wheel. The array is provided with several feedback swing arms, and a push rod is connected between the feedback swing arms and the cantilever.

The invention discloses a massage robot actuating mechanism, and relates to the field of medical machines. A main mechanism is formed by serially connecting two translational guide rails with a five degree-of-freedom mechanical arm, a two degree-of-freedom parallel mechanism comprising a translational mechanism and a rotary mechanism, and a crank rocker mechanism. The massage robot actuating mechanism comprises a sliding pair A (16) of the two translational guide rails, a sliding pair B (17) of the two translational guide rails, a fixed platform (14), a moving platform (9), the parallel mechanism and a planer rocker mechanism. The two translational guide rails are matched with the two degree-of-freedom parallel mechanism comprising the translational mechanism and the rotary mechanism and the crank rocker mechanism to complete actions such as rolling, pressing, rubbing, vibrating and patting in massage manipulation together. The mechanism has the advantages of simple and compact structure, high rigidity, flexible rotation, good dynamic performance, large pivot angle of the moving platform, low degree of freedom, simple kinematics analysis and easy real-time control.