6PUS mechanism and 6PUS-2PP double-platform equipment for intelligent assembly

The invention discloses a 6PUS mechanism for intelligent assembly and 6PUS-2PP double-platform equipment, the 6PUS mechanism comprises an upper platform, the upper platform comprises a plurality of PUS branch chains, each PUS branch chain comprises a sliding pair P, a universal joint U pair and a spherical pair S, one side of each universal joint U pair is rotationally connected with the sliding pair P, and the other side of each universal joint U pair is rotationally connected with the spherical pair S; and the other side of the universal joint U pair is also rotationally connected with the ball pair S pair. The double-platform equipment comprises an upper platform and a lower platform, and the upper platform is installed on the lower platform. The lower platform comprises a plurality of P-P series mechanisms which are arranged in parallel; the P-P series mechanism comprises an active moving pair and a passive moving pair installed on the active moving pair. A bearing platform is further installed on the pas