A new type of four supporting points parallel redundant action mechanism for attitude adjustment

We introduce a new type of parallel redundant action attitude adjustment mechanism which has six degrees of freedom that can be used for the automatic assembly of large parts. Take four spherical pairs as the supporting points, the spherical pairs´ ball-end will self-adaptive rotate around an axis while the motors make the spherical pairs linear motion. Set the workpiece coordinate and the reference coordinate, the parts´ spatial attitude can be solved. Use polynomial to plan the track of the attitude adjustment process, take the flat-division rotating method to adjustment the parts´ attitude angles which can reduce the control difficulty and increase the assembly accuracy.