163results about How to "Good exercise flexibility" patented technology

The present invention is non-contact magnetically adsorbed wall climbing robot, belongs to the field of robot design technology, and aims at providing robot with both high moving flexibility and great loading capacity. The non-contact magnetically adsorbed wall climbing robot includes wheeled moving mechanism and permanent adsorption mechanism. The wheeled moving mechanism includes chassis, driving mechanism and wheels, which are laid symmetrically, driven in differential mode, and turns on wall by means of the speed difference of the wheels. The permanent adsorption mechanism has no contact with the magnetically conducting wall surface, high magnetic energy utilization, and high adsorption capacity. The wall climbing robot has high loading capacity, high motion flexibility, especially high turning flexibility, and excellent application foreground.

Disclosed is a magnetic-absorption wall-creeping robot with a self-adaptive capability to curved face, which belongs to the art of robot. Said robot comprises a wheeled shifter and a plural of permanent-magnet absorption devices, the wheeled shifter containing an undercarriage, a drive gear, a traction wheel and an auxiliary balancing wheel; one end of the permanent-magnet absorption device being equipped with the magnetic conduction wall surface by auxiliary balancing wheel, and the other end equipped with the undercarriage or other permanent-magnet absorption device by curved face self-adaptive device with rotational freedom degree of among one to three; the traction wheel being laid out symmetrically and driven by differential drive, and the differential of the traction wheel realizing the deflecting on the magnetic conduction wall surface. The wall-creeping robot having a strong loading power, a flexible motility and a super self-adaptive capability to curved face, has a perfect prospect.

The invention discloses a magnetic attraction type wall-climbing robot which comprises a frame, wheels, motors, a strong magnetic block set, a power source, an upper supporting plate, a lower supporting plate and supports. The motors are arranged on the supports located on the bottom face of the frame. The motors are connected with the wheels. The strong magnetic block set is connected to the bottom of the frame through cooperation of screws and nuts. The upper supporting plate is provided with a drive system, the lower supporting plate is provided with a control system, and the control system is connected with the drive system. The drive system is connected with the motors. A wheel type structure is adopted by the magnetic attraction type wall-climbing robot, so that movement flexibility is good, strong magnetic blocks are used for magnetic attraction, loading capacity is high, the distance between the strong magnetic block set and a magnetic conductive surface is adjustable, and the loading range is wide. The magnetic attraction type wall-climbing robot is simple in structure, low in manufacturing cost, and capable of being widely applied to cleaning, coating, detecting and other operations on pipelines, storage tanks and other working conditions.

The invention discloses a six-foot walking robot. The conventional walking robot has a complicated mechanical structure and high energy consumption, is complicatedly controlled and does not adapt to environments with complicated terrains. The six-foot walking robot comprises a six-foot walking robot machine body and a six-foot walking robot control system, wherein the six-foot walking robot machine body comprises a frame and machine legs; the frame comprises a body and six leg fixing plate groups; the body comprises an upper body plate and a lower body plate; each robot leg has the same structure, comprises a hip part, a thigh, a shank and a foot and has three degrees of freedom; the six robot legs are uniformly distributed on the two sides of the frame; and the control system comprises a central controller, an electronic compass, a force sensor, a battery and an encoder. The six-foot walking robot has a simple and compact structure, a high energy utilization rate, high flexibility and high environment adaptability and is simply and reliably controlled.

The invention belongs to the technical field of special robots and particularly relates to a differential motion driving magnetic adsorption type multifunctional wall climbing robot with small-folding-size mechanical arms, comprising a climbing mechanism and an operation mechanism, wherein the operation mechanism comprises multifunctional mechanical arms and tail end working modules; a base of each multifunctional mechanical arm is fixed on an adsorption type climbing mechanism; and each tail end working module is fixed at the tail end of each multifunctional mechanical arm. According to the invention, the small-folding-size mechanical arms are carried; with the adoption of a five-degree-of-freedom matching manner, the tail end of each arm can work in a working region at any position and any angle; and compared with the other mechanical arms with less degree-of-freedom, the movement of the multifunctional mechanical arms is more flexible. The small-folding-size mechanical arms refer to that the arm folding is more compact and the size of the folded arm is smaller according to explanation; and according to the shape represented on each arm, particularly a large arm adopts a curve design, so that other structures can be avoided when the arms are folded.

The invention discloses two negative pressure adsorption type feet of a wall-climbing robot. Two foot modules are fixed to the same axis. During movement, the rear foot can directly step over the front foot and is adsorbed to the wall face to become the front foot, the single-step crossing distance during circulation movement is large, and the movement is flexible. Thigh joint motors of the robot are located below thigh connecting rods. The two thigh connecting rods are connected with the two thigh joint motors, and the other ends of the thigh connecting rods are connected with two ankle joint motors at the upper portions of the cavity feet respectively. Sealing washers are inlaid in the inner sides of concave shells of the cavity feet. Air nozzles are arranged inside cavities of the bottoms of the cavity feet. The upper portions of the cavity feet are provided with vacuum pumps and connected with the air nozzles through a three-way joint. The other end of the three-way joint is connected with an air inlet valve. The ankle joint motors are fixedly connected with foot steering motors. The foot steering motors are connected with the shells of the cavity feet. When the robot moves, the single-step crossing distance is twice larger than the length of the shells of the cavity feet, and the robot can meet the requirement of reducing the torque of the movement legs on the whole robot by controlling the circulation movement of the thigh connecting rods.

The invention discloses a multi-body magnetic adsorption type adaptive wall climbing robot and belongs to the technical field of special robots. The robot comprises a main body device, at least one slave body device, at least one mechanical arm and a working tool arranged on each slave body device, wherein the main body device comprises a main body frame, a movable mechanism and a main body magnetic adsorption device; the slave body device comprises a slave body frame, a slave body magnetic adsorption device and at least one auxiliary supporting wheel; and each mechanical arm comprises at least five connecting rods, at least two active joints and at least two passive joints. The invention provides a wall climbing robot which flexibly moves and steers on a magnetized wall surface at full positions spatially, is adaptive to a spatial curved surface and can perform welding, gouging, cutting, grinding, milling, detecting, cleaning or spraying work. The robot has wide processing range, high carrying capacity, high flexibility of movement and high working efficiency.

The invention discloses an all-direction moving AGV with lifting comb teeth. The AGV comprises a servo machine frame provided with at least three universal wheels on the lower portion, a plurality of lifting supports are arranged on the upper plane of the servo machine frame, the upper ends of the lifting supports are connected with a comb tooth bearing plate through bolts, and a central universal drive disc is arranged in the geometric center of the servo machine frame. The central universal drive disc structure is ingeniously adopted, steering with a machine center as the rotation center is driven by two driving motors and two driving wheels on the central universal drive disc, and all-direction steering and moving of the vehicle are achieved. Besides, by means of the supporting mechanisms, the bearing plate can ascend and descend, and movement flexibility and work efficiency are improved. The AGV has the advantages of being scientific in design, ingenious and reasonable in structure, convenient to manufacture and low in cost.

The invention discloses a neck type controllable unlocking device. The neck type controllable unlocking device comprises a separated part and an unlocking device body, wherein the unlocking device body drives the separated part to generate displacement. The unlocking device body comprises an accommodating cylinder body and an unlocking driving device which is arranged in the accommodating cylinder body. The unlocking driving device is mainly composed of a shape memory alloy spring and a buckle and neck structure. The shape memory alloy spring which is capable of reversibly and repeatedly working drives a buckle to move to control the self locking and the unlocking of the separated part, and therefore the separated part can be quickly and accurately separated from a separating part under various working conditions. The neck type controllable unlocking device is simple in structure, flexible in movement, convenient to use and maintain, free of generating pollution, and capable of being cyclically repeatedly utilized, reliability and stability of the unlocking device are improved, the service life of the unlocking device is prolonged, and development of space vehicles is promoted.

The invention relates to an intelligent armpit massage device based on Stewart parallel mechanisms, which comprises the Stewart parallel mechanisms, a massage outer cover, advance balls, a check ring and an air supply device. The massage outer cover is positioned right above the Stewart parallel mechanisms; vibrating massage heads and air holes are respectively and uniformly formed on the outer surface of the massage outer cover; the vibrating massage heads and the air holes are arranged in a pairwise staggered manner; the check ring is positioned outside the message outer cover, and the check ring is fixed with the Stewart parallel mechanisms; the advance balls are uniformly mounted between the check ring and the massage outer cover. The intelligent armpit massage device disclosed by the invention can be used for carrying out manipulation massaging and air-cooling sweat dissipation on the armpit of a human body, is obvious in massaging effect and high in massage comfort, and takes a good health care effect on the armpit of the human body; the intelligent armpit massage device adopts the 6-SPS Stewart parallel mechanisms, has high bearing capacity and high micromotion accuracy, can take the 3-DOF translational and 3-DOF rotational move in six DOF (Degree of Freedom) directions in total in the space, has a large contact area with the armpit of the human body, and has a good massaging effect.

The invention relates to a full-automatic hydraulic and hydroelectric engineering drain pipe clamping integrated machine. The full-automatic hydraulic and hydroelectric engineering drain pipe clamping integrated machine comprises a walking device, an adjustable support, a rotation device, a delta parallel mechanism and a clamping device. The adjustable support is located above the rear portion of the walking device. The rotation device is located at the position of the front end of the adjustable support. The rotation device is fixedly connected with the adjustable support. The delta parallel mechanism is located between the rotation device and the clamping device. The upper end of the delta parallel mechanism is connected with the rotation device. The lower end of the delta parallel mechanism is connected with the clamping device. By means of the full-automatic hydraulic and hydroelectric engineering drain pipe clamping integrated machine, a series of operation such as grabbing, carrying and stacking of water conservancy and hydropower pipelines can be achieved, the automation degree is high, movement is steady and flexible, the operation efficiency is high, and the problems that the manual carrying operation is high in cost, low in efficiency, large in dangerousness and the like are solved.

The invention discloses a space robot mechanical arm arresting control system. The space robot mechanical arm arresting control system comprises two loops, namely, an inner loop and an outer loop, inthe outer loop, the system achieves the attitude stability of a space robot mechanical arm base platform in the arresting process through a PD controller, and in the inner loop, the system controls amechanical arm to achieve arresting maneuvering on a non-cooperative target through a reinforce learning control system based on reinforce learning. The invention further discloses a reinforce learning method for controlling the reinforce learning control system of the mechanical arm in the inner loop of the system and a space robot dynamics modeling method of the space robot mechanical arm arresting control system. According to the space robot arresting control system, the reinforce learning method and the dynamics modeling method, compared with PD control, the posture disturbance of the baseplatform under reinforce learning RL control is smaller, the movement process of the tail end of the mechanical arm is more stable, the control precision is higher, moreover, the motion flexibility of the mechanical arm under the reinforce learning RL control is good, and the autonomous intelligence is achieved to the greater extent.

The invention provides a ferromagnetism wall climbing working robot comprising a walking unit, a swing unit, a protective unit and a control unit. The walking unit comprises a left drive wheel assembly, a right drive wheel assembly, a universal wheel assembly and a vehicle frame assembly. The two drive wheel assemblies are symmetrically installed at the front bottom of the vehicle frame assembly. The universal wheel assembly is installed at the rear bottom of the vehicle frame assembly. Strong arc-shaped permanent magnets are fixedly installed in all the drive wheel assemblies and the universal wheel assembly. The swing unit comprises a swing drive assembly, a swing rod assembly and an angle adjusting sensor assembly. The control unit comprises a control box, a control cabinet and a wireless remote control terminal.

A seven-degree-of-freedom human-simulated mechanical arm system based on human engineering is characterized in that the system comprises a shoulder joint and support, a big arm and mounting plate and a front arm; the big arm and mounting plate is fixed on a mobile platform of the shoulder joint and support, and the big arm and mounting plate and the mobile platform are connected through screws; the front arm is fixedly connected to an elbow joint movable plate of the big arm and mounting plate. According to the seven-degree-of-freedom human-simulated mechanical arm system, the structure and size are similar to the structural size of a human body, a human-simulated arm with the structural feature being similar to that of a human arm can better simulate the action of the human arm, a series-parallel connection mixing structure is adopted, on the basis that the requirement for motion space similar to the human arm is met, the rigidity and accuracy are high, and high action flexibility and fault tolerance are achieved.

The invention relates to a welding robot welding manipulator based on a Stewart parallel mechanism. The welding manipulator comprises a six-degree-of-freedom parallel mechanism and a welding actuation device; and the welding actuation device is positioned rightly below the six-degree-of-freedom parallel mechanism, and is fixedly connected with the six-degree-of-freedom parallel mechanism. The welding manipulator can perform flexible welding operation, can adjust overall welding position, is flexible in motion in local positions and high in stability, can realize a function of feeding welding wires when welding, and is high in welding efficiency and excellent in welding quality; the welding actuation device realizes vertical conveying of the welding wires from a wire storage mechanism through engaged rotation of wire feeding driving wheels from top to bottom; and a servo motor can drive local part of a welding gun to rotate, so that the welding flexibility is convenient, and the function of feeding the welding wires when welding can be realized.

The invention discloses a simple integrated type river sludge treatment device. The device comprises a gantry-shaped support, a supporting plate, a crushing mechanism, a concentration mechanism and aconveying mechanism, wherein a fishing mechanism capable of moving left and right on a cross beam is hoisted on the gantry-shaped support, the fishing mechanism comprises a retractable rod and a sludge fishing claw arranged at the bottom of the retractable rod, the supporting plate is movably arranged in the middle of the gantry-shaped support, the crushing mechanism is arranged below the sludge fishing claw on the supporting plate, and a crushing cavity and a filtering cavity which is separated from the crushing cavity by a filter plate and arranged in the bottom of the crushing cavity are formed in the crushing mechanism; the concentration mechanism comprises a primary filter assembly and an extrusion assembly which are connected in sequence, the filtering cavity is communicated with theprimary filter assembly through a sludge discharge pipe, the front end of the conveying mechanism is connected with an extrusion mechanism, and the rear end of the conveying mechanism directly extends to the outer side of the supporting plate. The device is simple in structure, complete in function, good in motion flexibility, capable of improving the sludge removing efficiency, avoiding resourcewaste, and suitable for dredging of various river channels and ditches.

The invention discloses a multi-degree-of-freedom bionic jellyfish robot. The multi-degree-of-freedom bionic jellyfish robot comprises a basal body, four mechanical arms and a biological film; the four mechanical arms are symmetrically mounted in the peripheral direction of the basal body; the basal body and the mechanical arms are wrapped by the biological film, and air is filled inside for adjusting buoyancy suffered by mechanical jellyfishes in water; the mechanical arms comprise two sections of large arms and small arms; the upper ends of the large arms are connected with the basal body, and the lower ends are connected to the upper ends of the small arms; and degrees of freedom are arranged according to human arm joints: the large arms are rotated left and right; the large arm swing up and down; the small arms swing up and down; and the small arms are rotated by multiple degrees of freedom. The robot has a biological simulating form, and is multiple in degree of freedom, flexiblein operation and high in adaptability.

The invention relates to a paper inserting robot for a stator of an electric power motor. The paper inserting robot comprises a base, a supporting device, a Stewart parallel mechanism, a paper inserting device and four fixing devices. The base adopts a T-shaped plate structure. The supporting device is located at the rear side end of the base, and is fixedly connected with the base. The Stewart parallel mechanism is mounted at the front end of the supporting device. The paper inserting device is located under the Stewart parallel mechanism. The fixing devices are respectively and symmetrically arranged on the upper end surface of the base, and are fixedly connected with the base. Insulation paper can be inserted in the stator of the electric power motor, the whole paper insertion process is mechanical and automatic, paper insertion is quick and convenient, the safety is high, the paper insertion depth consistency is high, the labor investment is reduced, the production cost of the motor is reduced, and the production quality of the motor is improved to a certain degree.

The invention relates to a four-branch-chain six-degree-of-freedom series-parallel mechanism. The four-branch-chain six-degree-of-freedom series-parallel mechanism comprises a fixed platform, slidingguide rails arranged on the fixed platform, two sliding blocks, a movable platform and four linear driving branch chains connected with the movable platform, the first sliding block and the second sliding block; the movable platform is square, and the first sliding block and the second sliding block are identical in structure and shape and are L-shaped; the first linear driving branch chain and the third linear driving branch chain in the four linear driving branch chains are identical in structure, and the second linear driving branch chain and the fourth linear driving branch chain are identical in structure; and the movable platform can realize six degrees of freedom, the four linear driving branch chains coordinately drive to achieve two movements and two rotational degrees of freedom,and the first sliding block and the second sliding block coordinately drive to achieve the other movement and rotational degrees of freedom. The four-branch-chain six-degree-of-freedom series-parallel mechanism has few branch chains, simple structure, simple kinematic model, high motion decoupling property, large working space, high carrying capacity and high application prospect.

The invention discloses a dog-like quadruped robot. The dog-like quadruped robot comprises leg parts, a front shoulder beam, a back shoulder beam, a front vertebral column, a waist part and a back vertebral column, wherein the front vertebral column, the waist part and the back vertebral column mutually form a vertebral column; one end of the front vertebral column is horizontally fixed at the middle part of the front shoulder beam in the form of a cantilever beam; the other end of the front vertebral column is connected with the front end of the waist part; the back end of the waist part is connected with the back vertebral column; the back vertebral column is fixed on the back shoulder beam; the waist part comprises two inflating rubber rods arranged in parallel; the two ends of the two rubber rods extend to form an integrated sheet-like rubber sheet fixedly connected with the front vertebral column and the back vertebral column; the deformation of the rubber rods at the waist part can provide bending freedom degree of the vertebral column in a vertical direction; one inflating rubber rod is connected with a first hydraulic cylinder which is vertically arranged; the first hydraulic cylinder is used for controlling transverse rolling freedom degree of the vertebral column in real time; the other inflating rubber rod is connected with a second hydraulic cylinder which is horizontally arranged; and the second hydraulic cylinder is used for controlling deflection freedom degree of the vertebral column in a horizontal direction in real time. The dog-like quadruped robot disclosed by the invention is advantaged in that the balance of the robot body is easy to adjust; the motion stability of the robot is good and the impact of the robot is reduced.

The invention relates to a fire rescue hexrcopter for an aerial electric power line. The fire rescue hexrcopter for the aerial electric power line comprises an unmanned aerial vehicle body, supporting posts, a connecting disc, a delta parallel mechanism and a fire extinguishing device. The number of the supporting posts is four, the supporting posts are located at four vertices of the fire extinguishing device correspondingly, the bottom ends of the supporting posts are connected with the fire extinguishing device, and the top ends of the supporting posts are connected with the connecting disc. The delta parallel mechanism is located between the connecting disc and the unmanned aerial vehicle body, the lower end of the delta parallel mechanism is connected with the upper end face of the connecting disc, and the upper end of the delta parallel mechanism is connected with the unmanned aerial vehicle body. The fire rescue hexrcopter for the aerial electric power line can be used for carrying out high-altitude fire protection and fire extinguishing operation when the aerial electric power line is on fire, and is high in automation degree, steady and flexible in flying during fire extinguishing, wide in fire extinguishing spraying range, high in fire extinguishing efficiency and high in safety, and the problem that the dangerousness of manual fire protection and fire extinguishing for the aerial electric power line is high is solved.

The invention relates to an environment-friendly sewage treatment pipe and dirt baffle plate welding robot. The robot comprises a base, a lifting device, a rotary driving device, a six-degree-of-freedom parallel mechanism, a welding actuation device and fixing devices; the lifting device is positioned at the back side end of the base, and is fixedly connected with the base; the rotary driving device is positioned rightly above the lifting device, and is fixedly connected with the lifting device; the six-degree-of-freedom parallel mechanism is positioned below the front end of the rotary driving device; the welding actuation device is positioned rightly below the six-degree-of-freedom parallel mechanism, and is fixedly connected with the six-degree-of-freedom parallel mechanism; and the fixing devices are symmetrically arranged on the upper end surface of the base, and are fixedly connected with the base. The robot can perform full-automatic intelligent welding operation between a sewage treatment pipe and a dirt baffle plate, is adjustable in whole position during welding, flexible in motion in local positions and high in stability, can realize the function of feeding welding wires while welding, and is high in welding efficiency and excellent in welding quality.

The invention discloses a slip driving-based curved surface adaptive all-round omni-directional wall climbing robot, which comprises a body and two mechanical legs, wherein each mechanical leg comprises a feeding mechanism, a rotating mechanism and at least three adaptive curvature adsorption mechanisms; and the flexibility of an electric push rod and the degrees of freedom of rotation of the rotating mechanisms enable the mechanical legs to realize front and back interference-free continuous reciprocating motion under the driving of a linear sliding table. The slip driving-based curved surface adaptive all-round omni-directional wall climbing robot can passively adapt to curvature changes of various working surfaces, and has motion flexibility and passability to realize omni-directional motion and obstacle crossing on a working surface with a complex variable curvature. Based on a discrete fixed contact form, the wall climbing robot and the working surface have no relative slip, whicheffectively avoids damage of the robot to a paint film on the working surface. By adoption of an electromagnet and permanent magnet combination adsorption form, reliable adsorption and flexible lifting up in a moving process of the robot can be realized. A permanent magnet guarantees the reliable adsorption property of the robot in a power-losing state on the working surface, so that the safety coefficient is substantially increased.

The invention relates to a pueraria lobata slicer. The slicer comprises a moving base, a rotary cutting device and a clamping device, wherein the rotary cutting device is located on the moving base and is fixedly connected to the moving base, and the clamping device is located in front of the rotary cutting device and is fixedly connected to the rotary cutting device. The slicer can automatically slice pueraria lobata of different sizes and shapes, the slicing efficiency is high, the slicing attractiveness is high, breakage hardly occurs in the slicing process, and the automation degree is high.

The invention relates to a special moving base for kudzu root slicer, including moving guide rails, moving sliders, sleeve seats, fixed bearings, lifting screws, connecting blocks, installation platforms, lifting motors, lifting shafts, locking end covers, and driving gears And the driven gear, the moving slider is installed on the moving guide rail, the sleeve seat is respectively located at the four top corners of the connecting plate, and the bottom end of the sleeve seat is installed on the moving slider through the fixed bearing, and the lower end of the lifting screw is installed on the sleeve Inside the internally threaded hole at the center position of the top of the cylinder seat, the upper end of the lifting screw is fixed on the lower end surface of the installation platform through the connecting block, the bottom end of the lifting motor is fixedly connected with the connecting plate, and the driven gear meshes with the driving gear. The present invention can move back and forth and up and down, has good movement flexibility, improves the overall flexibility of the present invention, is convenient to use and operate by people of different heights, and has good practicability.

The invention relates to an urban municipal sidewalk ditch maintenance operation robot. The urban municipal sidewalk ditch maintenance operation robot comprises crawler walking devices, wheel type walking devices, an electric rotating table, a delta parallel mechanism and a cleaning device. The number of the wheel type walking devices is four and the wheel type walking devices are symmetrically arranged on the left sides and the right sides of the crawler walking devices respectively. The electric rotating table is located in the centers of the upper ends of the crawler walking devices and fixedly connected with the crawler walking devices. The delta parallel mechanism is located between the electric rotating table and the cleaning device, the lower end of the delta parallel mechanism is connected with the electric rotating table, and the upper end of the delta parallel mechanism is connected with the cleaning device. The urban municipal sidewalk ditch maintenance operation robot can carry out cleaning, dredging and maintaining operation on urban municipal sidewalk ditches, is flexible in degree-of-freedom adjustment and high in intelligent degree and cleaning and dredging efficiency, and solves the problems that existing manual cleaning and dredging are large in workload, low in efficiency, high in cost and the like.

An assembling device for a pump core combination part of a fuel pump comprises a base, a pump core positioning base, a pressing device and an air cylinder assembly. The air cylinder assembly is in circuit connection with an external control unit. A laser positioning monitoring device used for monitoring the assembling condition of the pump core combination part is arranged on one side of the base. A filter screen leak detecting device used for conducting purification quality redetection on a filter screen is arranged on one side of the pump core positioning base, and a blowing pipe and an adsorption pipe of the filter screen leak detecting device are connected with an external blowing and suction air source. Optoelectronic switches of the laser positioning monitoring device and the filter screen leak detecting device are in circuit connection with the external control unit. The pressing device is pushed by an air cylinder piston to conduct up-and-down motion to press the filter screen and a pressing plate onto a pump core. A method for assembling the pump core combination part through the assembling device comprises the steps of carrying out purification quality redetection on the filter screen, loading a lower support at the bottom of the pump core of the fuel pump and pressing the filter screen and the pressing plate at the same time. The assembling device is set with many links of detection monitoring, so the product quality can be ensured. The assembling method is easy and convenient to operate and high in working efficiency, and the labor intensity of operators can be greatly relieved.

The invention relates to the technical field of parallel mechanisms, in particular to a two-translation-one-rotation branch incomplete symmetrical parallel mechanism, which comprises a movable platform and a fixed platform, wherein the fixed platform and the movable platform are in transmission connection through a first moving branch chain, a second moving branch chain and a third moving branch chain, the first moving branch chain and the third moving branch chain are in symmetrical arrangement. The two-translation-one-rotation branch incomplete symmetrical parallel mechanism has the advantages of simple branch structure, large working space, easy control, easy manufacture and assembly, high rigidity and strong bearing capacity. In addition, the mechanism has few joints and only 13 degrees of freedom of the motion pair, so that the problem that the parallel mechanism is easy to generate deflection and torsional deformation due to excessive degrees of freedom of the motion pair can beeffectively solved.

The invention discloses a wearable flexible auxiliary operating arm, and relates to a flexible operating arm. The wearable flexible auxiliary operating arm comprises a gas chamber cover, a base, an inner spring and three flexible inflatable gas tubes, wherein each flexible inflatable gas tube is a guide tube which is sealed in one end and is open in the other end; the inner spring is arranged on the middle part of the base; the three flexible inflatable gas tubes are arranged in the peripheral direction of the spring; the sealed ends of the flexible inflatable gas tubes abut against the base;a gas chamber which is matched with the flexible inflatable gas tubes is arranged on the gas chamber cover; opening ends of the flexible inflatable gas tubes are fixedly arranged in the gas chamber; and a gas inlet and a gas outlet are formed in the gas chamber. The wearable flexible auxiliary operating arm is flexible in structure, can realize various motion forms, has very good convenience, is convenient to expand, and can be applied to different occasions according to the needs.