PARALLEL MANIPULATOR HAVING FIVE DEGREES OF FREEDOM, AND MULTI-AXIS MACHINING DEVICE DEVELOPED THEREFROM

摘要

A parallel manipulator with five degrees of freedom (100) and a hybrid multi-axis machining device comprising said parallel manipulator (100), capable of multi-axis digitally controlled machining of complex parts and large structural components as well as offsite maintenance of large equipment. The parallel manipulator with five degrees of freedom (100) comprises: a rack (10); a movable platform (20); a first chain (30), connected to the rack (10) by means of at least two revolutes having orthogonally intersecting axes, and connected to the moving platform (20) by means of the at least two revolutes having orthogonally intersecting axes; a second chain (40), having the same structure as that of the first chain (30); and a third chain (50), comprising a main branch chain (51) and two auxiliary branch chains (52), wherein the first chain (30), second chain (40), and third chain (50) are each connected between the rack (10) and the moving platform (20).