Parallel mechanism with six degrees of freedom having arc-shaped prismatic pairs in three branches

A three-branched six-degree-of-freedom parallel mechanism with curved sliding pairs, comprising a base, a moving platform, and three identical kinetic branches, wherein the kinetic branches are radially and evenly distributed and arranged between the base and the moving platform, wherein each of the kinetic branches comprises a first curved link assembly, a first motor, and a support link, wherein the support link comprises one end hinged to the moving platform, the first curved link assembly comprises one end hinged to the support link, and the first motor is disposed on the base and is configured for driving the first curved link assembly to rotate, wherein an arc length of the first curved link assembly is changed as the first curved link assembly is driven to rotate;

• wherein each of the kinetic branches further comprises a second curved link assembly and a second motor, wherein one end of the first curved link assembly and one end of the second curved link assembly are hinged to different positions of the support link along a length of the support link, wherein the second motor is disposed on the base and is configured for driving the second curved link assembly to rotate, and where an arc length of the second curved link assembly is changed as the second curved link assembly is driven to rotate.