Abstract: A method for preparing high-purity nickel-based superalloy includes the steps of: performing electron beam smelting on small cylinders in a first water-cooled copper crucible after preheating an electron gun, and converging the beam to the edge of one side of the ingot; turning on the electron gun again after completely solidifying the ingot, the electron beam spot uniformly and slowly scanning a surface of the ingot from a side opposite to a final beam converging area of the ingot to the final beam converging area of the ingot to ensure that the alloy at a position scanned by the electron beam spot is completely melted, and stopping scanning once scanning to the final converging area of the ingot; casting the molten alloy in the first water-cooled copper crucible to the second water-cooled copper crucible; taking out the refined nickel-base superalloy after cooling down the electron beam melting furnace.

Abstract: A 6-dof parallel robot with a double-gyroscopic component comprises a fixed platform (1), a moving platform (2) and two modules of 3-dof translational robotic component (3); wherein two modules of 3-dof translational robotic component (3) are connected between the moving platform (2) and the fixed platform (1). The 6-dof parallel robot with a double-gyroscopic component provided by the present invention has the following advantages: excellent dynamic performance, compact structure, six degrees of freedom motion with no singularity, high rigidity, high precision, good stability, a large rotational workspace, etc., thus having a broad prospect in both scientific research and industrial application.

Abstract: A 6-dof parallel robot with a double-gyroscopic component comprises a fixed platform (1), a moving platform (2) and two modules of 3-dof translational robotic component (3); wherein two modules of 3-dof translational robotic component (3) are connected between the moving platform (2) and the fixed platform (1). The 6-dof parallel robot with a double-gyroscopic component provided by the present invention has the following advantages: excellent dynamic performance, compact structure, six degrees of freedom motion with no singularity, high rigidity, high precision, good stability, a large rotational workspace, etc., thus having a broad prospect in both scientific research and industrial application.