Parallel soft body driving tail end compliant passive constant force adjustable mechanism

The invention relates to a parallel soft body driving tail end compliant passive constant force adjustable mechanism which comprises a parallel soft body driving mechanism, a compliant constant force mechanism capable of achieving the tail end passive constant force characteristic is arranged on the top face of the parallel driving mechanism, and the compliant constant force mechanism is driven by the parallel soft body driving mechanism to adjust the tail end passive constant force characteristic. And a workpiece arranged on the device is operated through the generated tail end passive constant force. A workpiece is operated through tail end passive constant force generated by cooperation of the parallel soft body driving mechanism and the flexible constant force mechanism, the constant force interval of the whole mechanism can be increased, and therefore the large-stroke constant force requirement is met. 本发明涉及一种并联软体驱动末端柔顺被动恒力可调机构，该机构包括并联软体驱动机构，所述并联驱动机构的顶面设置有可实现末端被动恒力特性的柔顺恒力机构，所述柔顺恒力机构在所述并联软体驱动机构的带动下，通过产生的末