Spatially three-degree-of-freedom parallel mechanism with complete motion decoupling

Abstract

The present invention relates to the technical field of parallel mechanisms, and in particular to a spatial three-degree-of-freedom parallel mechanism with complete motion decoupling, comprising a moving platform, a simple branch chain 1, a simple branch chain 2, a hybrid branch chain and a static platform, wherein the hybrid branch chain comprises a spatial sub-parallel mechanism consisting of a branch chain 1 and a branch chain 2, wherein the branch chain 1 is composed of a rotating pair 7, a rotating pair 8 and a rotating pair 9 whose axes are parallel to each other, connected in series in sequence, and the branch chain 2 is composed of a rotating pair 10, a rotating pair 11 and a rotating pair 12 whose axes are parallel to each other, connected in series in sequence. The position components in the X-axis direction, the Y-axis direction and the Z-axis direction of the moving platform of the present invention are all determined by only one mobile input; it is easy to obtain a symbolic position positive solution; and because the driving pair is arranged on the same planar static platform, it has a large cubic workspace; at the same time, it is composed of only a low pair, has a simple structure, is easy to manufacture, and is simple to install; and can be used for three-dimensional process operations on various workpieces.

Description

Technical Field

[0001] The present invention relates to the technical field of parallel mechanisms, in particular to a spatial three-degree-of-freedom parallel mechanism with complete motion decoupling. Background Art

[0002] Existing three-translation parallel mechanisms (see the references below for details) generally do not have a correct position sign solution or the correct position sign solution is difficult to obtain, and it is difficult to achieve complete motion decoupling (that is, the X, Y, and Z position components are all determined by only one movement input). This brings inconvenience to their subsequent workspace analysis, dimensional synthesis, real-time motion control, dynamic balance calculation, and dynamic analysis. At the same time, the workspace is irregular, and the effectively regular cubic workspace is small in size.

[0003] References are as follows:

[0004] Li,Y.,and Xu,Q.(September 5,2005)."Kinematic Analysis and Design of aNew 3-DOF Translational Parallel Manipulator."ASME.J.Mech.Des.July 2006;128(4):729–737.

[0005] Zeng Daxing, Li Xiaofan, Qiu Xuesong, et al. Synthesis of a new type of three-translation decoupling parallel mechanism[J]. China Mechanical Engineering, 2015, 26(10): 1279-1283.

[0006] Guo Zonghe, Ma Luzhong, Yin Xiaoqin, et al. Design of motion conditions for asymmetric three-translation parallel mechanism[J]. Transactions of the Chinese Society of Agricultural Machinery, 2006(10):112-115.

[0007] Liu Yanbin, Di Fuyan. A new 3-RRRU parallel mechanism and its kinematic analysis[J]. China Mechanical Engineering, 2013, (4): 476-481.

[0008] Wang,

[0009] Carricato, M., and Parenti-Castelli, V. (June 11, 2003). "A Family of 3-DOFTranslational Parallel Manipulators." ASME.J.Mech.Des.June2003;125(2):302–307.】 Summary of the Invention

[0010] The technical problem to be solved by the present invention is: in order to solve the problem that the three-translation parallel mechanism in the prior art is difficult to achieve complete motion decoupling (that is, the X, Y, and Z position components are all determined by only one movement input), which brings inconvenience to its subsequent workspace analysis, dimensional synthesis, real-time motion control, dynamic balance calculation and dynamic analysis, a spatial three-degree-of-freedom parallel mechanism with complete motion decoupling is provided.

[0011] The technical solution adopted by the present invention to solve the technical problem is: a spatial three-degree-of-freedom parallel mechanism with complete motion decoupling, including a moving platform, a simple branch chain 1, a simple branch chain 2, a hybrid branch chain and a static platform, wherein the simple branch chain 1 is composed of a moving pair 1, a rotating pair 1, a rotating pair 2 and a rotating pair 3 connected in series; the simple branch chain 2 is composed of a moving pair 2, a rotating pair 4, a rotating pair 5 and a rotating pair 6 connected in series;

[0012] The moving direction of the first moving pair, the axis of the first rotating pair, the axis of the second rotating pair, and the axis of the third rotating pair are parallel to each other; the moving direction of the second moving pair, the axis of the fourth rotating pair, the axis of the fifth rotating pair, and the axis of the sixth rotating pair are parallel to each other;

[0013] The hybrid branch chain includes a spatial sub-parallel mechanism consisting of a branch chain 1 and a branch chain 2, wherein the branch chain 1 is composed of a rotating pair 7, a rotating pair 8, and a rotating pair 9 whose axes are parallel to each other, connected in series in sequence; the branch chain 2 is composed of a rotating pair 10, a rotating pair 11, and a rotating pair 12 whose axes are parallel to each other, connected in series in sequence; the rotating pair 9 is connected to the rotating pair 12 via an output rod coaxially arranged therewith, the axis of the rotating pair 9 is perpendicular to the axis of the rotating pair 12, and passes through the axis of the rotating pair 12, a sub-chain is provided on the output rod, the sub-chain is composed of a rotating pair 13, a rotating pair 14, and a rotating pair 15 whose axes are parallel to each other and all in the vertical direction, connected in series in sequence; the rotating pair 13 is connected to the output rod, and the axes of the rotating pair 9 and the axes of the rotating pair 12 are both perpendicular to the axis of the rotating pair 13;

[0014] The revolving pair 3 is connected to the first end of the moving platform, the revolving pair 6 is connected to the second end of the moving platform, and the revolving pair 15 is connected to the third end of the moving platform. The axes of the revolving pair 3, the revolving pair 6, and the revolving pair 15 are perpendicular to each other.

[0015] The moving pair 1, moving pair 2, rotating pair 7 and rotating pair 10 are all arranged on a static platform, and the moving direction of the moving pair 1 is perpendicular to the moving direction of the moving pair 2; the axis of the rotating pair 7 is perpendicular to the axis of the rotating pair 10 and passes through the axis of the rotating pair 10, and the axis of the rotating pair 7 is parallel to the moving direction of the moving pair 1.

[0016] Furthermore, the terminal member of the hybrid branch chain can generate three-dimensional movement and one-dimensional rotation around the revolving pair.

[0017] Furthermore, the moving direction of the moving pair 1 and the axis of the rotating pair 7 are parallel to the Y-axis direction, the moving direction of the moving pair 2 is parallel to the X-axis direction, and the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other;

[0018] When the moving pair 1, the moving pair 2 and the rotating pair 7 are driving pairs, the moving platform can realize the output motion of three-dimensional movement in space. The input of the moving pair 1 determines the displacement of the moving platform in the Y-axis direction, the input of the moving pair 2 determines the displacement of the moving platform in the X-axis direction, and the input of the rotating pair 7 determines the displacement of the moving platform in the Z-axis direction.

[0019] Alternatively, when the moving pair 1, the moving pair 2 and the rotating pair 10 are driving pairs, the moving platform can realize output motion of three-dimensional spatial movement. The input of the moving pair 1 determines the displacement of the moving platform in the Y-axis direction, the input of the moving pair 2 determines the displacement of the moving platform in the X-axis direction, and the input of the rotating pair 10 determines the displacement of the moving platform in the Z-axis direction.

[0020] The present invention also provides a spatial three-degree-of-freedom parallel mechanism with complete motion decoupling, comprising a moving platform, a simple branch chain 1, a simple branch chain 2, a hybrid branch chain, and a static platform, wherein the simple branch chain 1 is composed of a moving pair 1, a rotating pair 1, a rotating pair 2, and a rotating pair 3 connected in series; the simple branch chain 2 is composed of a moving pair 2, a rotating pair 4, a rotating pair 5, and a rotating pair 6 connected in series;

[0021] The moving direction of the first moving pair, the axis of the first rotating pair, the axis of the second rotating pair, and the axis of the third rotating pair are parallel to each other; the moving direction of the second moving pair, the axis of the fourth rotating pair, the axis of the fifth rotating pair, and the axis of the sixth rotating pair are parallel to each other;

[0022] The hybrid branch chain comprises a spatial sub-parallel mechanism consisting of a branch chain 1 and a moving pair 3, wherein the branch chain 1 is composed of a rotating pair 7, a rotating pair 8, and a rotating pair 9 whose axes are parallel to each other, which are connected in series in sequence. The rotating pair 9 is connected to the moving pair 3 via an output rod coaxially arranged therewith, and the axes of the rotating pair 9 and the rotating pair 7 are both perpendicular to the moving direction of the moving pair 3. A sub-chain is provided on the output rod, and the sub-chain is composed of a rotating pair 13, a rotating pair 14, and a rotating pair 15 whose axes are parallel to each other and in the vertical direction, which are connected in series in sequence. The rotating pair 13 is connected to the output rod, and the axis of the rotating pair 9 is perpendicular to the axis of the rotating pair 13.

[0023] The third, sixth and fifteenth rotating pairs are all connected to the moving platform, and the axes of the third, sixth and fifteenth rotating pairs are perpendicular to each other.

[0024] The moving pair 1, moving pair 2, moving pair 3 and rotating pair 7 are all arranged on a static platform, and the moving direction of the moving pair 1 is perpendicular to that of the moving pair 2; the axis of the rotating pair 7 is perpendicular to the moving direction of the moving pair 3, and the axis of the rotating pair 7 is parallel to the moving direction of the moving pair 1.

[0025] Furthermore, the terminal member of the hybrid branch chain can generate three-dimensional movement and one-dimensional rotation around the revolving pair.

[0026] Furthermore, the moving direction of the moving pair 1 and the axis of the rotating pair 7 are parallel to the Y-axis direction, the moving direction of the moving pair 2 is parallel to the X-axis direction, and the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other;

[0027] When the moving pair 1, the moving pair 2 and the rotating pair 7 are driving pairs, the moving platform can realize the output motion of three-dimensional movement in space. The input of the moving pair 1 determines the displacement of the moving platform in the Y-axis direction, the input of the moving pair 2 determines the displacement of the moving platform in the X-axis direction, and the input of the rotating pair 7 determines the displacement of the moving platform in the Z-axis direction.

[0028] Alternatively, when the moving pair 1, the moving pair 2 and the moving pair 3 are driving pairs, the moving platform can realize the output motion of three-dimensional spatial movement. The input of the moving pair 1 determines the displacement of the moving platform in the Y-axis direction, the input of the moving pair 2 determines the displacement of the moving platform in the X-axis direction, and the input of the moving pair 3 determines the displacement of the moving platform in the Z-axis direction.

[0029] The beneficial effects of the present invention are as follows: the fully motion-decoupled spatial three-degree-of-freedom parallel mechanism of the present invention has complete motion decoupling, that is, the position components of the moving platform in the X-axis direction, the Y-axis direction and the Z-axis direction are all determined by only one moving input; and it is very easy to obtain a symbolic position positive solution, thereby making the kinematics, motion control and trajectory planning, and dynamic analysis of the mechanism easy and convenient; and because the driving pair is arranged on the same planar static platform, it has a large cubic workspace; at the same time, it is only composed of a low pair, with a simple structure, easy manufacturing, and simple installation; it can be used for three-dimensional process operations on various workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The present invention will be further described below with reference to the accompanying drawings and examples.

[0031] Figure 1 Schematic diagram of the fully motion-decoupled spatial three-degree-of-freedom parallel mechanism in Example 1;

[0032] Figure 2 It is a schematic diagram of the spatial three-degree-of-freedom parallel mechanism with complete motion decoupling in Example 2.

[0033] In the figure: 0, static platform, 1, dynamic platform, 2, output rod;

[0034] R1, rotation pair 15, R2, rotation pair 14, R3, rotation pair 13; R 12 , Rotation pair 1, R 13 , Rotation pair 2, R 14 , Rotation pair three; R 22 , Rotation pair 4, R 23 , Rotate pair five, R 24 , rotating pair six; R 31 , rotate pair seven, R 32 , rotating pair eight, R 33 , rotate the vice nine; R 41 , rotating pair ten, R 42 、Rotate pair 11, R 43 , rotating pair twelve;

[0035] P 11 , mobile vice one, P 21 , mobile vice 2, P 31 , mobile vice three;

[0036] I, simple branched chain one, II, simple branched chain two, III, mixed branched chain. DETAILED DESCRIPTION

[0037] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams that illustrate the basic structure of the present invention only in a schematic manner. Therefore, they only show components relevant to the present invention, and directions and references (e.g., up, down, left, right, etc.) may be used solely to facilitate the description of features in the drawings. The following detailed description is therefore not to be taken in a limiting sense, and the scope of the claimed subject matter is defined solely by the appended claims and their equivalents.

[0038] like Figure 1 As shown, a spatial three-degree-of-freedom parallel mechanism with complete motion decoupling comprises a moving platform 1, a simple branch chain I, a simple branch chain II, a hybrid branch chain III and a static platform 0. The moving platform 1 may be in the shape of a triangle, with the three corners of the triangle being the first end, the second end and the third end of the moving platform 1 respectively. The simple branch chain I is composed of a moving pair P 11 , Rotary pair R 12 、Rotation pair 2 R 13 and rotating pair R 14 The simple branch chain II is composed of two movable pairs P 21 、Rotation pair 4 R 22 、Rotation pair R 23 and rotating pair 6 R 24 are connected in series in sequence;

[0039] Mobile Vice-P 11 The moving direction and the rotation pair R 12 The axis of the revolute pair R 13 The axis and the rotation pair R 14 The axes of the moving pair are parallel to each other; 21 The moving direction and the rotation pair R 22 The axis of the revolving pair R 23 The axis and the revolute pair R 24 The axes are parallel to each other;

[0040] The hybrid branch chain III includes a spatial sub-parallel mechanism consisting of branch chain 1 and branch chain 2. Branch chain 1 consists of a rotating pair of seven R 31 、Rotation pair R 32 and rotating pair nine R 33 The branch chain is composed of a rotating pair with parallel axes. 41 、Rotation pair 11 R 42 and rotary pair 12 R 43 Sequentially connected in series, rotating the nine R 33 Through the output rod 2 and the rotating pair 12 R 43 Connect, rotate the pair nine R 33 Coaxially arranged with the output rod 2, rotating pair nine R 33The axis is perpendicular to the revolute pair R 43 The axis of rotation R 33 The axis of the rotating pair R 43 The output rod 2 is provided with a sub-chain, which is composed of a rotating pair 13 R3, a rotating pair 14 R2 and a rotating pair 15 R1 whose axes are parallel to each other, and the axes of the rotating pair 13 R3, the rotating pair 14 R2 and the rotating pair 15 R1 are all in the vertical direction. The rotating pair 13 R3 is connected to the output rod 2, and the rotating pair 9 R 33 The axis and the revolute pair R 43 The axes are perpendicular to the axis of the revolving pair 13 R3;

[0041] Rotation pair R 14 , revolving pair 15 R1 and revolving pair 6 R 24 They are all located on the moving platform 1, specifically: rotating pair 3 R 14 Connected to the first end of the moving platform 1, rotating the six R 24 Connected to the second end of the moving platform 1, the rotating pair R1 is connected to the third end of the moving platform 1, and the rotating pair R 14 Axis, revolving pair 6 R 24 The axis of the revolving pair R1 is perpendicular to each other;

[0042] Mobile Vice-P 11 、Mobile secondary P 21 、Rotation pair seven R 31 and rotary pair R 41 are all set on the static platform 0, and the moving pair P 11 The moving direction is perpendicular to the moving pair P 21 The direction of movement; rotating vice seven R 31 The axis of the revolving pair is perpendicular to R 41 The axis of the rotation pair R 31 The axis of the rotating pair R 41 The axis of the rotation pair R 31 The axis and the moving pair P 11 The moving direction is parallel to that of the 31 The axis and the moving pair P 21 Parallel to the direction of movement.

[0043] In some examples, the end member of the hybrid branch chain III can generate three-dimensional movement and one-dimensional rotation around the axis of the revolving pair R1. The end member of the hybrid branch chain III is the connection between the moving platform 1 and the revolving pair R1.

[0044] In some examples, the mobile 11 The direction of movement and rotation of the pair R 31 The axes of the moving pair are parallel to the Y axis.21 The moving direction is parallel to the X-axis direction, and the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other;

[0045] Mobile Vice-P 11 、Mobile secondary P 21 and rotating pair R 31 When driving the pair, the dynamic platform 1 can realize the output motion of three-dimensional movement in space, and the moving pair P 11 The input determines the displacement of the moving platform 1 in the Y-axis direction, while the moving platform 2 P 12 The input determines the displacement of the moving platform 1 in the X-axis direction, while the rotation pair R 31 The input determines the displacement of the moving platform 1 in the Z-axis direction; the moving pair P 11 The input is the moving pair P 11 The displacement in the Y-axis direction, moving the second P 21 The input is the moving pair P 21 The displacement in the X-axis direction, the rotation of the pair R 31 The input is the rotating pair R 31 The rotation around its axis, therefore, the spatial three-degree-of-freedom parallel mechanism with complete motion decoupling has good input-output motion decoupling;

[0046] Or, move the vice-P 11 、Mobile secondary P 21 and rotary pair R 41 When driving the pair, the dynamic platform 1 can realize the output motion of three-dimensional movement in space, and the moving pair P 11 The input determines the displacement of the moving platform 1 in the Y-axis direction, while the moving platform 2 P 12 The input determines the displacement of the moving platform 1 in the X-axis direction, and the rotation pair R 41 The input determines the displacement of the moving platform 1 in the Z-axis direction.

[0047] The spatial three-degree-of-freedom parallel mechanism has zero coupling degree and possesses motion decoupling and symbolic position positive solution.

[0048] The fully motion-decoupled spatial three-degree-of-freedom parallel mechanism in this embodiment has a fully motion-decoupled property, that is, the X, Y, and Z position components of the moving platform 1 are all determined by only one motion input; and it is very easy to obtain a symbolic position positive solution, thereby making the kinematics, motion control, trajectory planning, and dynamic analysis of the mechanism easy and convenient; and because the moving pair P is the driving pair, 11 、Mobile secondary P 21 and rotating pair R 31It is arranged on the same plane static platform 0, and has a large cubic working space; at the same time, it is composed of only low pairs, with a simple structure, easy manufacturing and simple installation; it can be used for various workpieces (for example: the body and wings of large aircraft, blades of large wind power generation, etc.) to perform three-dimensional process operations (grinding, riveting, spraying, etc.).

[0049] Example 2

[0050] like Figure 2 As shown in the figure, a spatial three-degree-of-freedom parallel mechanism with complete motion decoupling includes a moving platform 1, a simple branch chain I, a simple branch chain II, a hybrid branch chain III and a static platform 0. The simple branch chain I is composed of a moving pair P 11 , Rotary pair R 12 、Rotation pair 2 R 13 and rotating pair R 14 Sequentially connected in series; simple branch II consists of mobile pair II P 21 、Rotation pair 4 R 22 、Rotation pair R 23 and rotating pair 6 R 24 are connected in series in sequence;

[0051] Mobile Vice-P 11 The moving direction and the rotation pair R 12 The axis of the revolute pair R 13 The axis and the rotation pair R 14 The axes of the moving pair are parallel to each other; 21 The moving direction and the rotation pair R 22 The axis of the revolving pair R 23 The axis and the revolute pair R 24 The axes are parallel to each other;

[0052] Hybrid branch chain III consists of a branch chain 1 and a mobile pair 3P 31 The space sub-parallel mechanism consists of a branch chain consisting of seven rotating pairs with parallel axes. 31 、Rotation pair R 32 and rotating pair nine R 33 Sequentially connected in series, rotating the nine R 33 Through the output rod 2 and the moving pair 3P 31 Connect, rotate the pair nine R 33 Coaxially arranged with the output rod 2, rotating pair nine R 33 The axis is perpendicular to the moving pair P 31 The direction of movement, rotating vice seven R 31 The axis is also connected to the moving pair three P 31The moving direction is perpendicular to the output rod 2. A sub-chain is provided on the output rod 2. The sub-chain is composed of a rotating pair 13 R3, a rotating pair 14 R2 and a rotating pair 15 R1 whose axes are parallel to each other. The axes of the rotating pair 13 R3, the rotating pair 14 R2 and the rotating pair 15 R1 are all arranged in the plumb direction. The rotating pair 13 R3 is provided on the output rod 2 in the plumb direction. The rotating pair 9 R 33 The axis of the rotating pair 13 R3 is perpendicular to the axis of the rotating pair 13 R3 and the axis of the moving pair 3 P 31 parallel to the direction of movement;

[0053] Rotation pair R 14 、Rotation pair six R 24 The rotating pair R1 is set on the moving platform 1, and the rotating pair R 14 The axis of the revolving pair R 24 The axis of the rotating pair R1 and the axis of the rotating pair R1 are arranged perpendicularly in pairs;

[0054] Mobile Vice-P 11 、Mobile secondary P 21 、Mobile deputy three P 31 and rotating pair R 31 are all set on the static platform 0, and the moving pair P 11 The moving direction and moving pair P 21 The direction of movement and the movement of the three P 31 The moving direction is vertical; the rotation of the pair R 31 The axis and the moving pair P 31 The moving direction is vertical, rotating vice seven R 31 The axis and the moving pair P 11 Parallel to the direction of movement.

[0055] In some examples, the end member of the hybrid branch chain III can generate three-dimensional movement and one-dimensional rotation around the revolving pair R1. The end member of the hybrid branch chain III is the connection between the moving platform 1 and the revolving pair R1.

[0056] In some examples, the mobile 11 The moving direction is parallel to the Y axis direction, and the rotation pair R 31 The axis of the moving vice is also parallel to the Y axis. 21 The moving direction is parallel to the X-axis direction, and the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other;

[0057] Mobile Vice-P 11 、Mobile secondary P 21 and rotating pair R 31 When driving the pair, the dynamic platform 1 can realize the output motion of three-dimensional movement in space, and the moving pair P 11The input determines the displacement of the moving platform 1 in the Y-axis direction, while the moving platform 2 P 12 The input determines the displacement of the moving platform 1 in the X-axis direction, while the rotation pair R 31 The input determines the displacement of the moving platform 1 in the Z-axis direction. Therefore, the mechanism has good input-output motion decoupling.

[0058] Or, move the vice-P 11 、Mobile secondary P 21 And mobile sub-three P 31 When driving the pair, the dynamic platform 1 can realize the output motion of three-dimensional movement in space, and the moving pair P 11 The input determines the displacement of the moving platform 1 in the Y-axis direction, while the moving platform 2 P 12 The input determines the displacement of the moving platform 1 in the X-axis direction, while the moving pair P 31 The input determines the displacement of the moving platform 1 in the Z-axis direction.

[0059] The fully motion-decoupled spatial three-degree-of-freedom parallel mechanism in this embodiment has a fully motion-decoupled property, that is, the X, Y, and Z position components of the moving platform 1 are all determined by only one motion input; and it is very easy to obtain a symbolic position positive solution, thereby making the kinematics, motion control, trajectory planning, and dynamic analysis of the mechanism easy and convenient; and because the moving pair P is the driving pair, 11 、Mobile secondary P 21 and rotating pair R 31 It is arranged on the same plane static platform 0, and has a large cubic working space; at the same time, it is composed of only low pairs, with a simple structure, easy manufacturing and simple installation; it can be used for various workpieces (for example: the body and wings of large aircraft, blades of large wind power generation, etc.) to perform three-dimensional process operations (grinding, riveting, spraying, etc.).

[0060] The above description of the preferred embodiments of the present invention is intended to serve as a guide. Based on the above description, relevant personnel are fully capable of making various changes and modifications without departing from the technical scope of this invention. The technical scope of this invention is not limited to the contents of the specification and must be determined according to the scope of the claims.

Claims

1. A spatial three-degree-of-freedom parallel mechanism with complete motion decoupling, characterized by: It includes a moving platform (1), a simple branch chain 1 (I), a simple branch chain 2 (II), a mixed branch chain (III) and a static platform (0), wherein the simple branch chain 1 (I) is composed of a moving pair 1 (P 11 )、rotation pair 1(R 12 )、Rotation pair 2(R 13 ) and rotating pair 3 (R 14 ) are connected in series; the simple branch chain II (II) is composed of a mobile pair II (P 21 )、Rotation pair 4(R 22 )、Rotation pair five(R 23 ) and rotating pair six (R 24 ) are connected in series; The mobile vice one (P 11 ) moving direction, rotation pair 1 (R 12 ) axis, revolute pair 2 (R 13 ) axis and the rotation pair (R 14 ) are parallel to each other; the axes of the movable pair 2 (P 21 ) moving direction, rotating pair 4 (R 22 ) axis, revolving pair V (R 23 ) axis and the rotation pair VI (R 24 ) are parallel to each other; The hybrid branch chain (III) comprises a spatial sub-parallel mechanism consisting of a branch chain 1 and a branch chain 2, wherein the branch chain 1 is composed of a rotating pair 7 (R 31 )、Rotation pair eight(R 32 ) and rotating pair nine (R 33 ) are connected in series, and the branch chain 2 is composed of a rotating pair 10 (R 41 )、Rotation pair 11(R 42 ) and revolute pair 12 (R 43 ) are connected in series, the rotating pair nine (R 33 ) is connected to the rotating pair 12 (R 43 ) connection, the rotating pair nine (R 33 ) and the axis of the revolute pair 12 (R 43 ) is perpendicular to the axis and rotates through the twelve (R 43 ), the output rod (2) is provided with a sub-chain, the sub-chain is composed of a rotating pair thirteen (R3), a rotating pair fourteen (R2) and a rotating pair fifteen (R1) whose axes are parallel to each other and in the vertical direction, which are connected in series in sequence, the rotating pair thirteen (R3) is connected to the output rod (2), the rotating pair nine (R 33 ) axis and revolute pair 12 (R 43 ) are all perpendicular to the axis of revolving pair 13 (R3); The rotating pair 3 (R 14 ) is connected to the first end of the moving platform (1), the rotating pair six (R 24 ) is connected to the second end of the moving platform (1), the rotating pair 15 (R1) is connected to the third end of the moving platform (1), the rotating pair 3 (R 14 ) axis, revolving pair six (R 24 ) and the axis of revolving pair 15 (R1) are perpendicular to each other; The mobile vice one (P 11 )、Mobile Vice II(P 21 )、Rotation pair seven(R 31 ) and rotary pair ten (R 41 ) are all set on the static platform (0), and the moving pair (P 11 ) moving direction and moving pair 2 (P 21 ) is moved in a vertical direction; the rotation pair seven (R 31 ) and the axis of the revolute pair (R 41 ) is perpendicular to the axis and rotates through the pair of ten (R 41 ) axis, the revolving pair seven (R 31 ) axis and moving pair 1 (P 11 ) is parallel to the direction of movement.

2. The fully motion-decoupled spatial three-degree-of-freedom parallel mechanism according to claim 1, characterized in that: The terminal member of the mixed branch chain (III) can generate three-dimensional movement and one-dimensional rotation around the rotation pair fifteen (R1).

3. The fully motion-decoupled spatial three-degree-of-freedom parallel mechanism according to claim 1 or 2, characterized in that: The mobile vice one (P 11 ) moving direction and rotation pair seven (R 31 ) are parallel to the Y axis, and the moving pair 2 (P 21 ) is parallel to the X-axis direction, and the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other; The mobile vice one (P 11 )、Mobile Vice II(P 21 ) and rotating pair seven (R 31 ) is a driving pair, the moving platform (1) can realize the output motion of three-dimensional movement in space, and the moving pair (P 11 ) input determines the displacement of the moving platform (1) in the Y-axis direction, while the moving pair (P 12 ) input determines the displacement of the moving platform (1) in the X-axis direction, while the rotation pair (R 31 ) input determines the displacement of the moving platform (1) in the Z-axis direction; Alternatively, the mobile pair (P 11 )、Mobile Vice II(P 21 ) and rotary pair ten (R 41 ) is a driving pair, the moving platform (1) can realize the output motion of three-dimensional movement in space, and the moving pair (P 11 ) input determines the displacement of the moving platform (1) in the Y-axis direction, while the moving pair (P 12 ) determines the displacement of the moving platform (1) in the X-axis direction, while the rotation pair (R 41 ) determines the displacement of the moving platform (1) in the Z-axis direction.

4. A spatial three-degree-of-freedom parallel mechanism with complete motion decoupling, characterized by: It includes a moving platform (1), a simple branch chain 1 (I), a simple branch chain 2 (II), a mixed branch chain (III) and a static platform (0), wherein the simple branch chain 1 (I) is composed of a moving pair 1 (P 11 )、rotation pair 1(R 12 )、Rotation pair 2(R 13 ) and rotating pair 3 (R 14 ) are connected in series; the simple branch chain II (II) is composed of a mobile pair II (P 21 )、Rotation pair 4(R 22 )、Rotation pair five(R 23 ) and rotating pair six (R 24 ) are connected in series; The mobile vice one (P 11 ) moving direction, rotation pair 1 (R 12 ) axis, revolute pair 2 (R 13 ) axis and the rotation pair (R 14 ) are parallel to each other; the axes of the movable pair 2 (P 21 ) moving direction, rotating pair 4 (R 22 ) axis, revolving pair V (R 23 ) axis and the rotation pair VI (R 24 ) are parallel to each other; The hybrid branched chain (III) comprises a branched chain 1 and a mobile branched chain 3 (P 31 ) composed of a spatial sub-parallel mechanism, wherein the branch chain is composed of a rotating pair (R 31 )、Rotation pair eight(R 32 ) and rotating pair nine (R 33 ) are connected in series, the rotating pair nine (R 33 ) is connected to the movable pair (P) by the output rod (2) which is coaxial with it. 31 ) connection, the rotating pair nine (R 33 ) axis and the rotation pair seven (R 31 ) are aligned with the axis of the moving pair (P 31 ) is perpendicular to the moving direction, and a sub-chain is provided on the output rod (2), and the sub-chain is composed of a rotating pair thirteen (R3), a rotating pair fourteen (R2) and a rotating pair fifteen (R1) whose axes are parallel to each other and in the vertical direction, which are connected in series in sequence. The rotating pair thirteen (R3) is connected to the output rod (2), and the rotating pair nine (R 33 ) is perpendicular to the axis of revolving pair 13 (R3); The rotating pair 3 (R 14 )、Rotation pair six(R 24 ) and the rotating pair 15 (R1) are connected to the moving platform (1), and the rotating pair 3 (R 14 ) axis, revolving pair six (R 24 ) and the axis of revolving pair 15 (R1) are perpendicular to each other; The mobile vice one (P 11 )、Mobile Vice II(P 21 )、Mobile Vice Three(P 31 ) and rotating pair seven (R 31 ) are all set on the static platform (0), and the moving pair (P 11 ) and the moving direction of the moving pair (P 21 ) is arranged in a vertical direction; the rotation pair seven (R 31 ) axis and the moving pair (P 31 ) is vertical to the moving direction, the rotation pair seven (R 31 ) axis and moving pair 1 (P 11 ) is parallel to the direction of movement.

5. The fully motion-decoupled spatial three-degree-of-freedom parallel mechanism according to claim 4, characterized in that: The terminal member of the mixed branch chain (III) can generate three-dimensional movement and one-dimensional rotation around the rotation pair fifteen (R1).

6. The fully motion-decoupled spatial three-degree-of-freedom parallel mechanism according to claim 4 or 5, characterized in that: The mobile vice one (P 11 ) moving direction and rotation pair seven (R 31 ) are parallel to the Y axis, and the moving pair 2 (P 21 ) is parallel to the X-axis direction, and the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other; The mobile vice one (P 11 )、Mobile Vice II(P 21 ) and rotating pair seven (R 31 ) is a driving pair, the moving platform (1) can realize the output motion of three-dimensional movement in space, and the moving pair (P 11 ) input determines the displacement of the moving platform (1) in the Y-axis direction, while the moving pair (P 12 ) input determines the displacement of the moving platform (1) in the X-axis direction, while the rotation pair (R 31 ) input determines the displacement of the moving platform (1) in the Z-axis direction; Alternatively, the mobile pair (P 11 )、Mobile Vice II(P 21 ) and mobile vice three (P 31 ) is a driving pair, the moving platform (1) can realize the output motion of three-dimensional movement in space, and the moving pair (P 11 ) input determines the displacement of the moving platform (1) in the Y-axis direction, while the moving pair (P 12 ) determines the displacement of the moving platform (1) in the X-axis direction, while the moving vice (P 31 ) determines the displacement of the moving platform (1) in the Z-axis direction.

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