Study on Spatial Angular Measure Method of Spatial 4-SP Type Parallel Mechanism

In this paper, the structure and the movement of the rocket launcher are introduced, and design the simulation loading device; The Euler angles and the kinematics equations of the parallel mechanism represented by Euler angles are introduced in detail, The 4-sp parallel mechanism model of rocket launcher and its analog loading device is established in ADAMS, The freedom of the parallel mechanism is analyzed in detail, set up the Kinematic pair and function pair of Euler angles, Applying four diagonal legs to move up and down, through the kinematics analysis, By means of adding 3 pairs of planar pairs, the maximum angle of the three angles between the loading leg 5 and the moving platform and the static platform is solved; Finally, the four leg of the parallel mechanism is set into a flexible body, and the maximum angle between the three pairs of angles is obtained by the simulation of the flexible body, By comparing the results of the two simulation results, it is proved that it is feasible to increase the space angle of the parallel mechanism with a few degrees of freedom in a certain precision.