A novel seven-degree-of-freedom serial-parallel hybrid micromanipulation mechanism and robotic arm

Abstract

This invention relates to a novel seven-DOF (degrees of freedom) serial-parallel hybrid micromanipulation mechanism and robotic arm. The micromanipulation mechanism includes a first serial section, a parallel mechanism, and a second serial section for mounting an end effector. The first serial section has x-translational and y-translational degrees of freedom and is fixed to one end of the parallel mechanism. The parallel mechanism has x, y, and z-rotational degrees of freedom and forms a spherical motion. The second serial section is rotatably connected to the other end of the parallel mechanism; this rotational degree of freedom is redundant, and the second serial section has a z-translational degree of freedom that translates along its rotational axis. This invention has the advantages of compact size, more flexible end effector attitude adjustment, increased structural rigidity, reduced cumulative error in end effector attitude adjustment, and achieves relatively large motion displacement output and positioning accuracy.

Description

Technical Field

[0001] This invention relates to the field of micromanipulation technology, specifically to a novel seven-degree-of-freedom serial-parallel hybrid micromanipulation mechanism and robotic arm. Background Technology

[0002] Micromanipulation technology is the most effective means of achieving precision assembly of tiny devices, and innovative design of micromanipulation mechanisms is key to driving the development of this field. Assembly processes in the field of micromanipulation place high demands on the positioning accuracy, workspace range, and structural rigidity of the mechanisms.

[0003] From the perspective of the driving method of micro-manipulation mechanisms, micro-manipulation places extremely high demands on the various indicators of the drive system, requiring characteristics such as sub-micron precision, millimeter-level stroke, multi-degree-of-freedom output, Newton-level output force, mm / s-level speed, and flexible and compact structure. Some of these indicators have exceeded the limits achievable by current drive systems. Piezoelectric drives, due to their characteristics of no electromagnetic interference and fast response speed, are widely used in precision equipment.

[0004] Currently, piezoelectric actuators are divided into direct-drive and stepper types. Stepper actuators can be further subdivided into ultrasonic, inchworm, and stick-slip types. Among these piezoelectric actuators, direct-drive piezoelectric actuators have high response speed and high positioning accuracy, but short stroke, making them unsuitable for long-stroke drives. Ultrasonic stepper actuators have very high speed but low resolution, inchworm actuators have high driving force but slow speed, while stick-slip actuators offer good overall performance.

[0005] Current research primarily focuses on micro-manipulation mechanisms designed based on series or parallel structures. Series mechanisms suffer from drawbacks such as accumulated errors and low structural stiffness, while parallel mechanisms are characterized by small workspaces and strong coupling. Hybrid mechanisms, on the other hand, combine the advantages of parallel mechanisms (high precision, strong load-bearing capacity, and fast response speed) with the advantages of series mechanisms (large workspace, flexible movement, and simple control). They possess the strengths of both while avoiding their respective drawbacks.

[0006] However, existing micromanipulation mechanisms based on hybrid mechanisms still suffer from problems such as non-decoupling of end-effector motion, limited attitude adjustment capability, and small workspace. Summary of the Invention

[0007] To address the problems existing in the prior art, the purpose of this invention is to provide a novel seven-degree-of-freedom serial-parallel hybrid micromanipulation mechanism and robotic arm, which features end-effector decoupling, strong posture adjustment capability, and a large workspace.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] A novel seven-degree-of-freedom serial-parallel hybrid micromanipulation mechanism includes a first serial section, a parallel mechanism, and a second serial section for mounting an end effector.

[0010] The first series part has x-translational degree of freedom and y-translational degree of freedom, and the first series part is fixed to one end of the parallel mechanism;

[0011] Parallel mechanisms have three rotational degrees of freedom (x, y, z) and exhibit spherical motion.

[0012] The second series part is rotatably connected to the other end of the parallel mechanism. This rotational degree of freedom is redundant, and the second series part has a z-translational degree of freedom to translate along its rotation axis.

[0013] Furthermore, the first series part includes a base, a first connecting plate, a first long linear stick-slip drive unit, a second long linear stick-slip drive unit, and a second connecting plate;

[0014] The first connecting plate is fixed to the base and connected to the first long linear adhesive sliding drive unit;

[0015] The two sides of the second connecting plate are respectively connected to the first long linear stick-slip drive unit and the second long linear stick-slip drive unit;

[0016] The motion directions of the first long linear stick-slip drive unit and the second long linear stick-slip drive unit are perpendicular to each other, and the parallel mechanism is fixedly connected to the second long linear stick-slip drive unit.

[0017] Furthermore, at least two of the first long linear stick-slip drive unit and the second long linear stick-slip drive unit are arranged in parallel.

[0018] Furthermore, the parallel mechanism is a 3-RRR parallel mechanism, including a 3-RRR parallel mechanism base, a first large rotary stick-slip drive unit, a first large rotary stick-slip drive unit connecting plate, a second large rotary stick-slip drive unit, a second large rotary stick-slip drive unit connecting plate, a third large rotary stick-slip drive unit, a first support rod, a second support rod, a third support rod, a first shaft, a connecting rod, a second shaft, and a 3-RRR parallel mechanism end moving platform; the number of the first shaft, the connecting rod, and the second shaft are all three, and they are all arranged at intervals along the circumference of the third large rotary stick-slip drive unit;

[0019] The 3-RRR parallel mechanism base is fixedly connected to the connecting plates of the second long linear stick-slip drive unit and the first large rotary stick-slip drive unit, respectively. The connecting plate of the second large rotary stick-slip drive unit is fixedly connected to the connecting plate of the first large rotary stick-slip drive unit. The first large rotary stick-slip drive unit is fixedly installed on the 3-RRR parallel mechanism base. The second large rotary stick-slip drive unit is fixedly installed on the connecting plate of the first large rotary stick-slip drive unit. The third large rotary stick-slip drive unit is fixedly installed on the connecting plate of the second large rotary stick-slip drive unit. One end of the first, second, and third support rods is respectively connected to the first large rotary stick-slip drive unit. The drive unit, the second large rotary stick-slip drive unit, and the third large rotary stick-slip drive unit are fixedly connected. The other ends of the first, second, and third support rods are fixedly connected to one end of the three first shafts respectively. The other ends of the three first shafts are rotatably connected to one end of the three connecting rods respectively. The other ends of the three connecting rods are rotatably connected to the three second shafts respectively. The three second shafts are evenly arranged around the central axis of the end moving platform of the 3-RRR parallel mechanism and fixedly connected to the end moving platform of the 3-RRR parallel mechanism. The end moving platform of the 3-RRR parallel mechanism is connected to the second series part.

[0020] Furthermore, the parallel mechanism is a 3-PRR parallel mechanism, including a 3-PRR parallel mechanism base and a 3-PRR parallel mechanism end moving platform. The 3-PRR parallel mechanism base is fixed to the second long straight stick-slip drive unit. Three branches are evenly distributed along the circumference of the 3-PRR parallel mechanism base, with their centers located at the midpoint O1 of the plane of the 3-PRR parallel mechanism base. Each branch includes a 3-PRR parallel mechanism slider and a 3-PRR parallel mechanism connecting rod. The 3-PRR parallel mechanism slider and the 3-PRR parallel mechanism base cooperate to form a moving drive pair. The 3-PRR parallel mechanism slider slides along the circumference of the 3-PRR parallel mechanism base. One end of the 3-PRR parallel mechanism connecting rod is rotatably connected to the 3-PRR parallel mechanism slider, and the other end of the 3-PRR parallel mechanism connecting rod is rotatably connected to the 3-PRR parallel mechanism end moving platform. The 3-PRR parallel mechanism end moving platform is connected to the second series part.

[0021] Furthermore, the axis of rotation joint between the 3-PRR parallel mechanism link and the 3-PRR parallel mechanism slider of each branch intersects at point O2, and the axis of rotation joint between the 3-PRR parallel mechanism link and the end moving platform of the 3-PRR parallel mechanism of each branch intersects at point O2. Point O2 is located in the plane formed by the axis of rotation joint between the three 3-PRR parallel mechanism links and the end moving platform of the 3-PRR parallel mechanism, and this plane always remains parallel to the plane of the end moving platform of the 3-PRR parallel mechanism.

[0022] Furthermore, the second series section includes a small rotary stick-slip drive unit, a series adapter plate, and a short linear stick-slip drive unit; the small rotary stick-slip drive unit is fixedly connected to the parallel mechanism, the series adapter plate is connected to the small rotary stick-slip drive unit, and the short linear stick-slip drive unit is fixedly connected to the series adapter plate.

[0023] Furthermore, the short linear stick-slip drive unit is provided with mounting holes for mounting an end effector.

[0024] A robotic arm, comprising the aforementioned novel seven-degree-of-freedom serial-parallel hybrid micromanipulation mechanism.

[0025] In summary, the present invention has the following advantages:

[0026] 1. The structure is compact and has high rigidity. This is because the micro-manipulation mechanism adopts a hybrid mechanism layout. The 3-PRR parallel mechanism can also be converted into a 3-RRR parallel mechanism by arranging the three rotary drive pairs with their rotation axes collinear. This configuration layout has the advantage of compact size, while increasing structural rigidity and reducing the cumulative error of end attitude adjustment.

[0027] 2. Since the second series part consists of one rotational degree of freedom and one translational degree of freedom, the rotational degree of freedom can realize redundant motion of rotating around the normal of the plane of the end moving platform of the parallel mechanism, the end attitude adjustment of the micro-operation mechanism is more flexible, and the motion of the degree of freedom of rotation around the normal of the plane L1 of the end moving platform is decoupled.

[0028] 3. Achieving relatively large motion displacement output and positioning accuracy is due to the use of stick-slip drive as the driving method for the micro-manipulation mechanism. This driving method features sub-micron level accuracy, millimeter-level stroke, Newton-level output force, and mm / s-level speed. Furthermore, the series connection in the hybrid mechanism increases the motion displacement output. Attached Figure Description

[0029] Figure 1 This is a simplified diagram of the micro-operation mechanism.

[0030] Figure 2(a) is a simplified diagram of the 3-PRR parallel mechanism.

[0031] Figure 2(b) is a simplified diagram of the 3-PRR parallel mechanism from another perspective.

[0032] Figure 3 This is a planar structural diagram of the stick-slip driven micromanipulation mechanism.

[0033] Figure 4 This is a vertical overall structural diagram of a stick-slip driven micromanipulation mechanism.

[0034] Figure 5 This is a schematic diagram of the vertical structure of the first series section.

[0035] Figure 6 This is a planar structural diagram of the parallel section of the 3-RRR circuit.

[0036] Figure 7(a) is a vertical structural diagram of the parallel part of the 3-RRR.

[0037] Figure 7(b) is a structural diagram of the 3-RRR parallel section from another perspective.

[0038] Figure 8 This is a schematic diagram of the vertical structure of the second series section.

[0039] In the picture:

[0040] 11. First serial linkage mechanism; 111. First moving drive auxiliary guide rail; 112. First moving drive auxiliary slider; 113. Second moving drive auxiliary guide rail; 114. Second moving drive auxiliary slider;

[0041] 12. 3-PRR parallel mechanism; 121. 3-PRR parallel mechanism base; 122. 3-PRR parallel mechanism slider; 123. 3-PRR parallel mechanism connecting rod; 124. 3-PRR parallel mechanism end moving platform;

[0042] 13. Second series mechanism; 131. First rotation drive pair base; 132. First rotation drive pair mover; 133. Third movement drive pair guide rail; 134. Third movement drive pair slider;

[0043] 21. Base;

[0044] 22. First series connection section; 2201. First connecting plate; 2202. Long linear stick-slip drive unit; 2203. Second connecting plate;

[0045] 23. 3-RRR parallel connection section; 2301. 3-RRR parallel mechanism base; 2302. First large rotary stick-slip drive unit; 2303. First large rotary stick-slip drive unit connecting plate; 2304. Second large rotary stick-slip drive unit; 2305. Second large rotary stick-slip drive unit connecting plate; 2306. Third large rotary stick-slip drive unit; 2307. First support link; 2308. Second support link; 2309. Third support link; 2310. First shaft; 2311. Connecting rod; 2312. Second shaft; 2313. 3-RRR parallel mechanism end moving platform;

[0046] 24. Second series section; 2401. Small rotary stick-slip drive unit; 2402. Series adapter plate; 2403. Short linear stick-slip drive unit. Detailed Implementation

[0047] The present invention will now be described in further detail.

[0048] like Figure 3 and Figure 4 As shown, a seven-degree-of-freedom hybrid micro-manipulation mechanism based on stick-slip drive mainly includes a base 21, a first series section 22 consisting of four linear stick-slip drive units at the bottom, a middle parallel mechanism (in the form of a 3-RRR parallel section 23), and a second series section 24 at the end consisting of one linear stick-slip drive unit and one rotary stick-slip drive unit, hereinafter referred to as the stick-slip drive micro-manipulation mechanism.

[0049] like Figure 5 As shown, the first series section 22 includes a first connecting plate 2201, four long linear stick-slip drive units 2202, and a second connecting plate 2203. The first connecting plate 2201 is connected to the base 21 by bolts. Two long linear stick-slip drive units 2202 are respectively connected to the first connecting plate 2201 by bolts. Here, the two long linear stick-slip drive units 2202 are arranged in parallel to increase the load. The second connecting plate 2203 is connected to two long linear stick-slip drive units 2202 by bolts, and the other side of the second connecting plate 2203 is also connected to two other long linear stick-slip drive units 2202 by bolts. The first series section 22 is a two-degree-of-freedom series structure, and every two long linear stick-slip drive units 2202 arranged in parallel form a degree of freedom of movement.

[0050] like Figure 1 The diagram shown is a simplified diagram of the micro-manipulation mechanism, which mainly includes a first series mechanism 11 (corresponding to the first series part 22 of the above-mentioned stick-slip drive micro-manipulation mechanism), an intermediate 3-PRR parallel mechanism 12 (corresponding to the 3-RRR parallel part 23 of the above-mentioned stick-slip drive micro-manipulation mechanism), and a second series mechanism 13 at the end (corresponding to the second series part 24 of the above-mentioned stick-slip drive micro-manipulation mechanism).

[0051] The first motion drive pair guide rail 111 and the first motion drive pair slider 112 cooperate to form a first motion drive pair, which provides a degree of freedom of movement in the x-direction. The second motion drive pair guide rail 113 and the second motion drive pair slider 114 cooperate to form a second motion drive pair, and the second motion drive pair guide rail 113 is fixedly connected to the first motion drive pair slider 112. The motion direction axes of the second motion drive pair and the first motion drive pair are perpendicular to each other, and the second motion drive pair provides a degree of freedom of movement in the y-direction. The above structure constitutes the first serial mechanism 11 of the micro-manipulation mechanism.

[0052] As shown in Figures 2(a) and 2(b), specifically, the 3-PRR parallel mechanism base 121 is fixedly connected to the second movable drive pair slider 114. The 3-PRR parallel mechanism 12 has three identical branches evenly distributed along the circumference of the 3-PRR parallel mechanism base 121, with the center of the branches located at the midpoint O1 of the plane of the 3-PRR parallel mechanism base 121. Taking one branch as an example, it consists of the 3-PRR parallel mechanism slider 122 and the 3-PRR parallel mechanism connecting rod 123. The 3-PRR parallel mechanism slider 122 and the 3-PRR parallel mechanism base 121 cooperate to form a movable drive pair, and the 3-PRR parallel mechanism slider 122 can slide along the circumference of the 3-PRR parallel mechanism base 121. The 3-PRR parallel mechanism link 123 is bearing-connected to the 3-PRR parallel mechanism slider 122, and the other ends of the 3-PRR parallel mechanism links 123 of the last three branches are bearing-connected to the end moving platform 124 of the 3-PRR parallel mechanism. This structure constitutes the 3-PRR parallel mechanism 12 of the micro-operation mechanism. The rotational joint axes between the 3-PRR parallel mechanism link 123 and the 3-PRR parallel mechanism slider 122 of each branch intersect at point O2, and the rotational joint axes between the 3-PRR parallel mechanism link 123 and the end moving platform 124 of each branch also intersect at point O2. Point O2 lies within the plane formed by the rotational joint axes between the three 3-PRR parallel mechanism links 123 and the end moving platform 124 of the 3-PRR parallel mechanism, and this plane remains parallel to the plane of the end moving platform 124 of the 3-PRR parallel mechanism. The 3-PRR parallel mechanism 12 has three rotational degrees of freedom, forming spherical motion, with an infinite working range around the z-axis.

[0053] The first rotary drive pair base 131 and the first rotary drive pair mover 132 cooperate to form the first rotary drive pair. The first rotary drive pair provides redundant degrees of freedom for rotation along the normal L1 of the plane of the end moving platform 124 of the 3-PRR parallel mechanism bypassing point O2. The third traverse drive pair guide rail 133 and the third traverse drive pair slider 134 cooperate to form the third traverse drive pair. The third traverse drive pair guide rail 133 is fixedly connected to the first rotary drive pair mover 132. The third traverse drive pair provides degrees of freedom for translational motion along the rotation axis of the first rotary drive pair. The above structure constitutes the second serial mechanism 13 of the micro-manipulation mechanism.

[0054] This micro-manipulation mechanism has a total of seven degrees of freedom. For the position of the end effector, there are three translational degrees of freedom: x, y, and z. The x-degree of freedom is provided by the interaction of the first and third kinetic drive pairs, the y-degree of freedom by the interaction of the second and third kinetic drive pairs, and the z-degree of freedom by the third kinetic drive pair. For the attitude of the end effector, there are three attitude rotational degrees of freedom. The rotational degree of freedom of the second serial mechanism 13 is redundant, enabling redundant motion of rotation around the normal L1 of the plane of the 3-PRR parallel mechanism's end-effector moving platform 124, making the end-effector attitude adjustment more flexible.

[0055] like Figure 6 As shown in Figures 7(a) and 7(b), the intermediate parallel mechanism can also adopt the 3-RRR parallel part 23 mode.

[0056] Specifically, the 3-RRR parallel section 23 includes a 3-RRR parallel mechanism base 2301, a first large rotary stick-slip drive unit 2302, a first large rotary stick-slip drive unit connecting plate 2303, a second large rotary stick-slip drive unit 2304, a second large rotary stick-slip drive unit connecting plate 2305, a third large rotary stick-slip drive unit 2306, a first support rod 2307, a second support rod 2308, a third support rod 2309, a first shaft 2310, a connecting rod 2311, a second shaft 2312, and a 3-RRR parallel mechanism end moving platform 2313. The 3-RRR parallel mechanism base 2301 is fixedly connected to the two long straight stick-slip drive units 2202 at the end of the first series section 22 by bolts. The first large rotary stick-slip drive unit connecting plate 2303 is fixedly connected to the parallel mechanism base 2301 by bolts. The second large rotary stick-slip drive unit connecting plate 2305 is also fixedly connected to the first large rotary stick-slip drive unit connecting plate 2303 by bolts, forming a bracket for mounting the large rotary stick-slip drive units. The first large rotary stick-slip drive unit 2302 is fixedly mounted to the parallel mechanism base 2301 by bolts. The second large rotary stick-slip drive unit 2304 is fixedly mounted to the first large rotary stick-slip drive unit connecting plate 2303 by bolts. The third large rotary stick-slip drive unit 2306 is fixedly mounted to the second large rotary stick-slip drive unit connecting plate 2305 by bolts, forming three active pairs of the 3-RRR parallel section 23. Since the three large rotary stick-slip drive units have a through-hole structure at their center, they will not interfere with the first large rotary stick-slip drive unit connecting plate 2303 and the second large rotary stick-slip drive unit connecting plate 2305 during installation. Simultaneously, the first branch link 2307, the second branch link 2308, and the third branch link 2309 are fixedly connected to three large rotary stick-slip drive units, and their ends are fixedly connected to three first shafts 2310. The three first shafts 2310 are then connected to the bearings of connecting rods 2311, forming three branches of the 3-RRR parallel section 23. Finally, the other ends of the three connecting rods 2311 are connected to the bearings of second shafts 2312. The three second shafts 2312 are evenly arranged around the central axis of the end moving platform 2313 of the 3-RRR parallel mechanism and are fixedly connected to the end moving platform 2313. The aforementioned 3-RRR parallel section 23 has three rotational degrees of freedom, forming spherical motion, with an infinite working range around the rotation axis of the large rotary stick-slip drive unit. Furthermore, compared to the 3-PRR spherical parallel mechanism in the micro-manipulation mechanism configuration, this example replaces the three 3-PRR translational drive pairs with three rotational drive pairs, and arranges the three rotational drive pairs in a stacked manner, with the rotation axes of the three rotational drive pairs collinear. This arrangement transforms the 3-PRR spherical parallel mechanism into a 3-RRR spherical parallel mechanism, making the stick-slip drive micro-manipulation mechanism more compact.

[0057] like Figure 8 As shown, the second series section 24 includes a small rotary stick-slip drive unit 2401, a series adapter plate 2402, and a short linear stick-slip drive unit 2403. The small rotary stick-slip drive unit 2401 is fixedly connected to the end moving platform 2313 of the 3-RRR parallel mechanism via bolts. Then, the series adapter plate 2402 is connected to the small rotary stick-slip drive unit 2401 via bolts. Finally, the short linear stick-slip drive unit 2403 is fixedly connected to the series adapter plate 2402 via bolts, forming the second series section 24. The second series section 24 is a two-degree-of-freedom series structure, consisting of one rotational degree of freedom and one translational degree of freedom. The rotational degree of freedom is redundant, enabling redundant motion of rotation around the plane normal of the end moving platform 2313 of the 3-RRR parallel mechanism, making the end attitude adjustment of the mechanism more flexible. The slide rail of the short linear stick-slip drive unit 2403 at the end has threaded holes, which can be used to install end actuators with various loads.

[0058] This stick-slip driven micromanipulation mechanism employs a stick-slip drive unit, enabling it to achieve higher positioning accuracy. The first series section 22 and the second series section 24 provide the stick-slip driven micromanipulation mechanism with a larger workspace. Simultaneously, the end-effector series-connected small rotary stick-slip drive unit 2401 adds a rotational redundancy degree of freedom, enhancing the end-effector attitude adjustment capability of the micromanipulation mechanism.

[0059] Working process of this invention:

[0060] In the first series section 22, the simultaneous movement of two long linear stick-slip drive units 2202 fixed to the first connecting plate 2201 in one direction enables the stick-slip drive micro-manipulation mechanism to move in the x-axis direction, with the displacement stroke depending on the stroke of the long linear stick-slip drive unit 2202. Similarly, the simultaneous movement of two long linear stick-slip drive units 2202 fixed to the second connecting plate 2203 in the first series section 22 in one direction enables the stick-slip drive micro-manipulation mechanism to move in the y-axis direction, with the displacement stroke depending on the stroke of the long linear stick-slip drive unit 2202. The simultaneous movement of three large rotary stick-slip drive units in the 3-RRR parallel section 23 of the stick-slip drive micro-manipulation mechanism in the same direction and angle enables the end-effector moving platform 2313 of the 3-RRR parallel mechanism to rotate infinitely around the z-axis; or, according to the inverse kinematics of 3-RRR, the rotation of the three large rotary stick-slip drive units in different directions enables the attitude adjustment of the end-effector moving platform 2313 of the 3-RRR parallel mechanism around the x and y axes, i.e., spherical motion. The rotational motion of the small rotary stick-slip drive unit 2401 in the second series section 24 can achieve redundant motion around the center line of the end moving platform 2313 of the 3-RRR parallel mechanism. The short linear stick-slip drive unit 2403 in the second series section 24 can achieve motion in different directions along the rotation axis of the small rotary stick-slip drive unit 2401.

[0061] The present invention also proposes a robotic arm, which includes the above-mentioned novel seven-degree-of-freedom serial-parallel hybrid micromanipulation mechanism.

[0062] The parallel section of this invention does not employ compliant hinges, resulting in a very compact overall size; redundant degrees of freedom at the end further increase the workspace and posture / adjustment capabilities; high structural rigidity is beneficial for increasing load capacity; cumulative error is small; and the workspace is large. All drive units of the mechanism use stick-slip drive units, achieving sub-micron level accuracy, millimeter-level stroke, Newton-level output force, and mm / s-level speed, resulting in excellent overall drive performance.

[0063] 1. In the field of micro-operations, the mechanism of this invention adopts a hybrid series-parallel configuration;

[0064] 2. The parallel section adopts a 3-PRR mechanism as a spherical parallel mechanism, which can be replaced by other three-branch spherical parallel mechanisms such as the 3-RRR mechanism, all of which can provide three degrees of freedom of rotation.

[0065] 3. The rotational degree of freedom in the second series mechanism 13 is a redundant degree of freedom, which can realize redundant motion of rotating around the plane normal of the end moving platform 124 of the 3-PRR parallel mechanism. Moreover, among the three rotational degrees of freedom of the end position, the degree of freedom of rotation around the plane normal L1 of the end moving platform is decoupled.

[0066] 4. In the micro-operation mechanism configuration of the present invention, the driving units of all driving pairs can be selected as: ultrasonic motors, linear motors, stick-slip driving units, and any other driver that can be used as linear and rotary drives.

[0067] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A novel seven-degree-of-freedom serial-parallel hybrid micromanipulation mechanism, characterized in that: It includes a first series section, a parallel mechanism, and a second series section for mounting the end effector; The first series part has x-translational degree of freedom and y-translational degree of freedom, and the first series part is fixed to one end of the parallel mechanism; Parallel mechanisms have three rotational degrees of freedom (x, y, z) and exhibit spherical motion. The second series part is rotatably connected to the other end of the parallel mechanism. This rotational degree of freedom is redundant, and the second series part has a z-translational degree of freedom to translate along its rotation axis. The first series part includes a base, a first connecting plate, a first long linear stick-slip drive unit, a second long linear stick-slip drive unit, and a second connecting plate; The first connecting plate is fixed to the base and connected to the first long linear adhesive sliding drive unit; The two sides of the second connecting plate are respectively connected to the first long linear stick-slip drive unit and the second long linear stick-slip drive unit; The motion directions of the first long linear stick-slip drive unit and the second long linear stick-slip drive unit are perpendicular to each other, and the parallel mechanism is fixedly connected to the second long linear stick-slip drive unit. The parallel mechanism is a 3-RRR parallel mechanism, including a 3-RRR parallel mechanism base, a first large rotary stick-slip drive unit, a first large rotary stick-slip drive unit connecting plate, a second large rotary stick-slip drive unit, a second large rotary stick-slip drive unit connecting plate, a third large rotary stick-slip drive unit, a first support rod, a second support rod, a third support rod, a first shaft, a connecting rod, a second shaft, and a 3-RRR parallel mechanism end moving platform; the number of the first shaft, the connecting rod, and the second shaft are all three, and they are all arranged at intervals along the circumference of the third large rotary stick-slip drive unit; The 3-RRR parallel mechanism base is fixedly connected to the connecting plates of the second long linear stick-slip drive unit and the first large rotary stick-slip drive unit, respectively. The connecting plate of the second large rotary stick-slip drive unit is fixedly connected to the connecting plate of the first large rotary stick-slip drive unit. The first large rotary stick-slip drive unit is fixedly installed on the 3-RRR parallel mechanism base. The second large rotary stick-slip drive unit is fixedly installed on the connecting plate of the first large rotary stick-slip drive unit. The third large rotary stick-slip drive unit is fixedly installed on the connecting plate of the second large rotary stick-slip drive unit. One end of the first, second, and third support rods is respectively connected to the first large rotary stick-slip drive unit. The moving unit, the second large rotary stick-slip drive unit, and the third large rotary stick-slip drive unit are fixedly connected. The other ends of the first, second, and third branch links are fixedly connected to one end of each of the three first shafts. The other ends of the three first shafts are rotatably connected to one end of each of the three connecting rods. The other ends of the three connecting rods are rotatably connected to each of the three second shafts. The three second shafts are evenly arranged around the central axis of the end moving platform of the 3-RRR parallel mechanism and fixedly connected to the end moving platform of the 3-RRR parallel mechanism. The end moving platform of the 3-RRR parallel mechanism is connected to the second series section; or The parallel mechanism is a 3-PRR parallel mechanism, including a 3-PRR parallel mechanism base and a 3-PRR parallel mechanism end moving platform. The 3-PRR parallel mechanism base is fixed to the second long straight stick-slip drive unit. Three branches are evenly distributed along the circumference of the 3-PRR parallel mechanism base, with their centers located at the midpoint O1 of the plane of the 3-PRR parallel mechanism base. Each branch includes a 3-PRR parallel mechanism slider and a 3-PRR parallel mechanism connecting rod. The 3-PRR parallel mechanism slider and the 3-PRR parallel mechanism base cooperate to form a moving drive pair. The 3-PRR parallel mechanism slider slides along the circumference of the 3-PRR parallel mechanism base. One end of the 3-PRR parallel mechanism connecting rod is rotatably connected to the 3-PRR parallel mechanism slider, and the other end of the 3-PRR parallel mechanism connecting rod is rotatably connected to the 3-PRR parallel mechanism end moving platform. The 3-PRR parallel mechanism end moving platform is connected to the second series part.

2. The novel seven-degree-of-freedom serial-parallel hybrid micromanipulation mechanism according to claim 1, characterized in that: At least two of the first long straight-line stick-slip drive unit and the second long straight-line stick-slip drive unit are arranged in parallel.

3. The novel seven-degree-of-freedom serial-parallel hybrid micromanipulation mechanism according to claim 1, characterized in that: The axis of rotation joint between the 3-PRR parallel mechanism link and the 3-PRR parallel mechanism slider of each branch intersects at point O2, and the axis of rotation joint between the 3-PRR parallel mechanism link and the end moving platform of the 3-PRR parallel mechanism of each branch intersects at point O2. Point O2 is located in the plane formed by the axis of rotation joint between the three 3-PRR parallel mechanism links and the end moving platform of the 3-PRR parallel mechanism, and this plane always remains parallel to the plane of the end moving platform of the 3-PRR parallel mechanism.

4. A novel seven-degree-of-freedom serial-parallel hybrid micromanipulation mechanism according to claim 1, characterized in that: The second series section includes a small rotary stick-slip drive unit, a series adapter plate, and a short linear stick-slip drive unit; The small rotary stick-slip drive unit is fixedly connected to the parallel mechanism, the series adapter plate is connected to the small rotary stick-slip drive unit, and the short linear stick-slip drive unit is fixedly connected to the series adapter plate.

5. A novel seven-degree-of-freedom serial-parallel hybrid micromanipulation mechanism according to claim 4, characterized in that: The short linear stick-slip drive unit is provided with mounting holes for mounting an end effector.

6. A robotic arm, characterized in that: The invention includes a novel seven-degree-of-freedom serial-parallel hybrid micromanipulation mechanism as described in any one of claims 1-5.

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