Hybrid mechanism for simulating co-falling of shipborne helicopter

The invention belongs to the technical field of robot mechanics, and particularly relates to a hybrid mechanism for simulating co-falling of a shipborne helicopter. The hybrid mechanism comprises a lower platform, a middle-lower platform, a middle-upper platform, an upper platform and branches for connecting the adjacent platforms. Each platform has four connection points, the three peripheral connection points are used for forming a positive triangle, and the fourth connection point is located in the center of the positive triangle. The lower platform and the middle-lower platform are connected through a first branch RPUR structure, a second branch UPRR structure, a third branch RPUR structure and a fourth branch SPR structure to form a ship motion simulation mechanism, and the middle-upper platform and the upper platform are connected through a fifth branch RSS structure, a sixth branch RRR structure, a seventh branch RSS structure and an eighth branch SP structure to form a motion compensation mechanism. E