MULTI-MOTION-PLATFORM PARALLEL ROBOT CONSTRUCTION METHOD AND PARALLEL ROBOTS FOR SAME

摘要

A multi-motion-platform parallel robot, comprising an original parallel mechanism; and a plurality of N₁ derivative parallel mechanisms, wherein: each of the parallel mechanisms possesses N₂ degrees-of-freedom (DOFs) and shares an identical set of DOF properties; N₁ is an integer greater than 1; N₂ is one of 2, 3, 4, 5 and 6; the original parallel mechanism includes an original base platform, an original movable platform and a plurality of N₂ original chains; the plurality of original chains connect the original base platform and the original movable platform; each of the original chains includes a plurality of generalized kinematic pairs interconnected in series; the derivative parallel mechanism includes a derivative base platform, a derivative movable platform and a plurality of (N₂×N₁) derivative chains; and the plurality of derivative chains connect the derivative base platform and the derivative movable platform.