图1为带平动油缸的液压平行机构的工作原理。当大臂在举臂油缸作用下,绕A点逆时针转动△θ角时,使平动油缸1(BC)伸长。因平动油缸和仰俯油缸2前腔与前腔、后腔与后腔分别相通(见图1),平动油缸前腔的油被挤进仰俯缸的前腔,而仰俯油缸后腔的油则被挤入平动油缸的后腔,仰俯缸(B’C’)缩短。 Figure 1 shows the working principle of a hydraulic parallel mechanism with a translational cylinder. When the boom in the arm cylinder, around the A point counterclockwise rotation angle θ, the translation of the cylinder 1 (BC) elongation. Due to the translational cylinder and the pitching cylinder 2, the front chamber and the front chamber are respectively communicated with the rear chamber (see Fig. 1). The oil in the front chamber of the translational cylinder is squeezed into the front chamber of the pitching cylinder, The chamber oil is squeezed into the back chamber of the translation cylinder, and the pitch cylinder (B’C ’) is shortened.