Dynamic isotropic generalized Stewart fault-tolerant parallel mechanism and design method thereof

The invention discloses a dynamic isotropic generalized Stewart fault-tolerant parallel mechanism and a design method thereof, and relates to a parallel mechanism and a design method thereof, in particular to the dynamic isotropic generalized Stewart fault-tolerant parallel mechanism and the design method thereof. The invention aims to solve the problem that the conventional non-redundant parallel mechanism cannot ensure the essential safety of the system after one or more supporting legs are in failure. According to the invention, the upper end of a second supporting leg, the upper end of a fourth supporting leg, the upper end of a sixth supporting leg and the upper end of an eighth supporting leg are mounted on the periphery of a second upper hinge circle with a radius ra2 on an upper platform through an upper hinge assembly respectively, and the lower end of the second supporting leg, the lower end of the fourth supporting leg, the lower end of the sixth supporting leg, and the lower end of the eighth supporting leg are mounted on the periphery of a second lower hinge circle with a radius rb2 on a lower platform through a lower hinge assembly respectively. The invention is used in the field of aviation and aerospace.