Isotropic fully decoupled heavy-load three-movement parallel robot and method

Abstract

The present invention discloses an isotropic and fully decoupled heavy-duty three-mobile parallel robot, which includes a fixed platform and a moving platform; a first motion chain, a second motion chain and a third motion chain are arranged between the fixed platform and the moving platform, and the fixed platform and the moving platform are connected through the first motion chain, the second motion chain and the third motion chain; the first motion chain includes an eighth link assembly and a fifteenth link assembly; it also includes a first "fork-shaped" drive module, a second "fork-shaped" drive module, a third "fork-shaped" module, a fourth "fork-shaped" module, a fifth "fork-shaped" module and a sixth "fork-shaped" module. This robot can be provided with multiple drive modules, which improves the carrying capacity of the robot to a certain extent and enlarges the application range of such robots on the basis of the relatively simple control of fully decoupled robots. The driving method of the isotropic and fully decoupled heavy-duty three-mobile parallel robot is also disclosed.

Description

Technical Field

[0001] The present invention belongs to the field of robotics, and in particular relates to an isotropic fully decoupled heavy-load three-movement parallel robot; and also relates to a driving method of the isotropic fully decoupled heavy-load three-movement parallel robot. Background Art

[0002] In general, the three motion outputs of an isotropic, fully decoupled, three-movement parallel robot can be controlled separately via three independent drives. Within the three-dimensional space accessible by the end effector, a specific configuration exists where the robot's kinematic performance and force transmission are identical in all three directions. The kinematic equations for the end effector output and the drive variable input are differentiated with respect to time to obtain the Jacobian matrix, which maps the output velocity to the input velocity. This Jacobian matrix is ​​a diagonal matrix with identical elements. Existing isotropic, fully decoupled, three-movement parallel robots typically have kinematic pairs in their joints. Generally, kinematic pairs with high precision, strong reliability, and a large range of motion are more expensive than revolute pairs. When used as passive kinematic pairs, kinematic pairs are prone to jamming, causing mechanical failure. Furthermore, due to their fully decoupled motion, isotropic, fully decoupled, three-movement parallel robots are generally easier to control but have a relatively low load-bearing capacity. Summary of the Invention

[0003] The first purpose of the present invention is to provide an isotropic, fully decoupled, heavy-load three-mobile parallel robot, which can be equipped with multiple drive modules. On the basis of the relatively simple control of fully decoupled robots, the robot's carrying capacity is improved to a certain extent, and the application scope of such robots is expanded.

[0004] The second object of the present invention is to provide a driving method for an isotropic, fully decoupled, heavy-load three-mobile parallel robot.

[0005] The first technical solution adopted by the present invention is an isotropic, fully decoupled, heavy-load three-mobile parallel robot, comprising a fixed platform and a moving platform; a first kinematic chain, a second kinematic chain, and a third kinematic chain are arranged between the fixed platform and the moving platform, and the fixed platform and the moving platform are connected by the first kinematic chain, the second kinematic chain, and the third kinematic chain;

[0006] The first kinematic chain includes an eighth link assembly and a fifteenth link assembly; it also includes a first "fork-shaped" drive module, a second "fork-shaped" drive module, a third "fork-shaped" module, a fourth "fork-shaped" module, a fifth "fork-shaped" module, and a sixth "fork-shaped" module; the eighth link assembly is connected to the fixed platform through the first "fork-shaped" drive module and the second "fork-shaped" drive module; the eighth link assembly is connected to the fifteenth link assembly through the third "fork-shaped" module and the fourth "fork-shaped" module; the fifteenth link assembly is connected to the moving platform through the fifth "fork-shaped" module and the sixth "fork-shaped" module.

[0007] The features of the present invention further include:

[0008] The eighth link assembly includes a first U-shaped connecting rod and a first cross bar arranged crosswise, and the center of the rod body of the first U-shaped connecting rod is connected to the center of the rod body of the first cross bar;

[0009] The fifteenth link assembly includes a second U-shaped connecting rod and a first vertical rod connected to each other, and one end of the first vertical rod is connected to the center of the rod body of the second U-shaped connecting rod;

[0010] The first "fork-shaped" drive module includes a second link, a fourth link, and a third link connected in sequence, and the fourth link is parallel to the fixed platform; the first end of the second link is connected to one side of the first end of the fourth link through a 104th rotational pair R104, and the second end of the second link is connected to the fixed platform through a 101st rotational pair R101; the first end of the third link is connected to one side of the second end of the fourth link through a 103rd rotational pair R103, and the second end of the third link is connected to the fixed platform through a 102nd rotational pair R102; the second link and the third link are not coplanar, and the projections of the second link and the third link on a certain same plane form an X shape;

[0011] The second "fork-shaped" drive module includes a fifth link, a seventh link, and a sixth link connected in sequence, and the seventh link is parallel to the fixed platform; the first end of the fifth link is connected to one side of the first end of the seventh link through a 109th rotational pair R109, and the second end of the fifth link is connected to the fixed platform through a 106th rotational pair R106; the first end of the sixth link is connected to one side of the second end of the seventh link through a 108th rotational pair R108, and the second end of the sixth link is connected to the fixed platform through a 107th rotational pair R107; the fifth link and the sixth link are not coplanar, and the projections of the fifth link and the sixth link on a certain same plane form an X shape;

[0012] The first end of the first U-shaped connecting rod is connected to one side of the center of the rod body of the fourth link through a 105th rotational pair R105; the second end of the first U-shaped connecting rod is connected to one side of the center of the rod body of the seventh link through a 110th rotational pair R11;

[0013] The third "Y-shaped" module includes a ninth connecting rod, an eleventh connecting rod, and a tenth connecting rod that are connected in sequence. The eleventh connecting rod is parallel to the first crossbar. The first end of the ninth connecting rod is connected to one side surface of the first end of the eleventh connecting rod through the 113rd rotating pair R113. The second end of the ninth connecting rod is connected to one side surface of the first crossbar through the 112nd rotating pair R112. The first end of the tenth connecting rod is connected to one side surface of the second end of the eleventh connecting rod through the 114th rotating pair R114. The second end of the tenth connecting rod is connected to one side surface of the first crossbar through the 111st rotating pair R111. The ninth connecting rod and the tenth connecting rod are not coplanar, and the projections of the ninth connecting rod and the tenth connecting rod on a certain same plane form an X shape.

[0014] The fourth "Y-shaped" module includes a twelfth connecting rod, a fourteenth connecting rod, and a thirteenth connecting rod that are connected in sequence. The fourteenth connecting rod is parallel to the first crossbar. The first end of the twelfth connecting rod is connected to one side surface of the first end of the fourteenth connecting rod through the 119th rotating pair R119. The second end of the twelfth connecting rod is connected to one side surface of the first crossbar through the 116th rotating pair R116. The first end of the thirteenth connecting rod is connected to one side surface of the second end of the fourteenth connecting rod through the 118th rotating pair R118. The second end of the thirteenth connecting rod is connected to one side surface of the first crossbar through the 117th rotating pair R117. The twelfth connecting rod and the thirteenth connecting rod are not coplanar, and the projections of the twelfth connecting rod and the thirteenth connecting rod on a certain same plane form an X shape.

[0015] The first end of the second U-shaped connecting rod is connected to one side of the center of the rod body of the eleventh connecting rod through the 115th rotating pair R115. The second end of the second U-shaped connecting rod is connected to one side of the center of the rod body of the fourteenth connecting rod through the 120th rotating pair R120.

[0016] The fifth "Y-shaped" module includes a sixteenth connecting rod, an eighteenth connecting rod, and a seventeenth connecting rod that are connected in sequence. The eighteenth connecting rod is parallel to the first vertical rod. The first end of the sixteenth connecting rod is connected to one side surface of the first end of the eighteenth connecting rod through the 123rd rotating pair R123. The second end of the sixteenth connecting rod is connected to one side surface of the first vertical rod through the 122nd rotating pair R122. The first end of the seventeenth connecting rod is connected to one side surface of the second end of the eighteenth connecting rod through the 124th rotating pair R124. The second end of the seventeenth connecting rod is connected to one side surface of the first vertical rod through the 121st rotating pair R121. The sixteenth connecting rod and the seventeenth connecting rod are not coplanar, and the projections of the sixteenth connecting rod and the seventeenth connecting rod on a certain same plane form an X shape. The eighteenth connecting rod is connected to the moving platform through the 125th rotating pair R125.

[0017] The sixth "Y-shaped" module includes the nineteenth connecting rod, the twenty-first connecting rod and the twentieth connecting rod connected in sequence. The twenty-first connecting rod is parallel to the first vertical rod. The first end of the nineteenth connecting rod is connected to one side surface of the first end of the twenty-first connecting rod through the 128th rotating pair R128. The second end of the nineteenth connecting rod is connected to one side surface of the first vertical rod through the 127th rotating pair R127. The first end of the twentieth connecting rod is connected to one side surface of the second end of the twenty-first connecting rod through the 129th rotating pair R129. The second end of the twentieth connecting rod is connected to one side surface of the first vertical rod through the 126th rotating pair R126. The nineteenth connecting rod and the twentieth connecting rod are not coplanar, and the projections of the nineteenth connecting rod and the twentieth connecting rod on a certain same plane form an X shape. The twenty-first connecting rod is connected to the moving platform through the 130th rotating pair R130.

[0018] The 106th rotating pair R106 is connected with a driving motor.

[0019] The second motion chain includes a twenty-eighth connecting rod assembly and a thirty-fifth connecting rod assembly; it also includes a seventh "Y-shaped" driving module, an eighth "Y-shaped" driving module, a ninth "Y-shaped" module, a tenth "Y-shaped" module, an eleventh "Y-shaped" module and a twelfth "Y-shaped" module. The twenty-eighth connecting rod assembly is connected to the fixed platform through the seventh "Y-shaped" driving module and the eighth "Y-shaped" driving module. The twenty-eighth connecting rod assembly is connected to the thirty-fifth connecting rod assembly through the ninth "Y-shaped" module and the tenth "Y-shaped" module. The thirty-fifth connecting rod assembly is connected to the moving platform through the eleventh "Y-shaped" module and the twelfth "Y-shaped" module.

[0020] The twenty-eighth connecting rod assembly includes a third U-shaped connecting rod and a second vertical rod connected to each other. One end of the second vertical rod is connected to the center of the rod body of the third U-shaped connecting rod. <​​​​​​​The eighth "Y-shaped" driving module includes a twenty-fifth connecting rod, a twenty-seventh connecting rod and a twenty-sixth connecting rod which are connected in sequence. The twenty-seventh connecting rod is parallel to the fixed platform. The first end of the twenty-fifth connecting rod is connected to one side surface of the first end of the twenty-seventh connecting rod through the 209th rotating pair R209. The second end of the twenty-fifth connecting rod is connected to the fixed platform through the 206th rotating pair R206. The first end of the twenty-sixth connecting rod is connected to one side surface of the second end of the twenty-seventh connecting rod through the 208th rotating pair R208. The second end of the twenty-sixth connecting rod is connected to the fixed platform through the 207th rotating pair R207. The twenty-fifth connecting rod and the twenty-sixth connecting rod are not coplanar, and the projections of the twenty-fifth connecting rod and the twenty-sixth connecting rod on a certain same plane form an X shape.

[0024] The first end of the third U-shaped connecting rod is connected to one side of the center of the rod body of the twenty-seventh connecting rod through the 210th rotating pair R210. The second end of the third U-shaped connecting rod is connected to one side of the center of the rod body of the twenty-fourth connecting rod through the 205th rotating pair R205.

[0025] The ninth "Y-shaped" module includes a twenty-ninth connecting rod, a thirty-first connecting rod and a thirtieth connecting rod which are connected in sequence. The thirty-first connecting rod is parallel to the second vertical rod. The first end of the twenty-ninth connecting rod is connected to one side surface of the first end of the thirty-first connecting rod through the 213th rotating pair R213. The second end of the twenty-ninth connecting rod is connected to one side surface of the second vertical rod through the 212th rotating pair R212. The first end of the thirtieth connecting rod is connected to one side surface of the second end of the thirty-first connecting rod through the 214th rotating pair R214. The second end of the thirtieth connecting rod is connected to one side surface of the second vertical rod through the 211th rotating pair R211. The twenty-ninth connecting rod and the thirtieth connecting rod are not coplanar, and the projections of the twenty-ninth connecting rod and the thirtieth connecting rod on a certain same plane form an X shape.

[0026] The tenth "Y-shaped" module includes a thirty-second connecting rod, a thirty-fourth connecting rod and a thirty-third connecting rod which are connected in sequence. The thirty-fourth connecting rod is parallel to the second vertical rod. The first end of the thirty-second connecting rod is connected to one side surface of the first end of the thirty-fourth connecting rod through the 218th rotating pair R218. The second end of the thirty-second connecting rod is connected to one side surface of the second vertical rod through the 216th rotating pair R216. The first end of the thirty-third connecting rod is connected to one side surface of the second end of the thirty-fourth connecting rod through the 219th rotating pair R219. The second end of the thirty-third connecting rod is connected to one side surface of the second vertical rod through the 217th rotating pair R217. The thirty-second connecting rod and the thirty-third connecting rod are not coplanar, and the projections of the thirty-second connecting rod and the thirty-third connecting rod on a certain same plane form an X shape.

[0027] The first end of the fourth U-shaped connecting rod is connected to one side of the center of the rod body of the thirty-fourth connecting rod through the 220th rotating pair R220. The second end of the fourth U-shaped connecting rod is connected to one side of the center of the rod body of the thirty-first connecting rod through the 215th rotating pair R215.

[0028] The eleventh "Y-shaped" module includes a thirty-sixth connecting rod, a thirty-eighth connecting rod and a thirty-seventh connecting rod connected in sequence. The thirty-eighth connecting rod is parallel to the third vertical rod. The first end of the thirty-sixth connecting rod is connected to one side surface of the first end of the thirty-eighth connecting rod through the 224th rotating pair R224. The second end of the thirty-sixth connecting rod is connected to one side surface of the third vertical rod through the 221st rotating pair R221. The first end of the thirty-seventh connecting rod is connected to one side surface of the second end of the thirty-eighth connecting rod through the 223rd rotating pair R223. The second end of the thirty-seventh connecting rod is connected to one side surface of the third vertical rod through the 222nd rotating pair R222. The thirty-sixth connecting rod and the thirty-seventh connecting rod are not coplanar, and the projections of the thirty-sixth connecting rod and the thirty-seventh connecting rod on a certain same plane form an X shape. The thirty-eighth connecting rod is connected to the moving platform through the 225th rotating pair R225;

[0029] The twelfth "Y-shaped" module includes a thirty-ninth connecting rod, a forty-first connecting rod and a fortieth connecting rod connected in sequence. The forty-first connecting rod is parallel to the third vertical rod. The first end of the thirty-ninth connecting rod is connected to one side surface of the first end of the forty-first connecting rod through the 229th rotating pair R229. The second end of the thirty-ninth connecting rod is connected to one side surface of the third vertical rod through the 226th rotating pair R226. The first end of the fortieth connecting rod is connected to one side surface of the second end of the forty-first connecting rod through the 228th rotating pair R228. The second end of the fortieth connecting rod is connected to one side surface of the third vertical rod through the 227th rotating pair R227. The thirty-ninth connecting rod and the fortieth connecting rod are not coplanar, and the projections of the thirty-ninth connecting rod and the fortieth connecting rod on a certain same plane form an X shape. The forty-first connecting rod is connected to the moving platform through the 230th rotating pair R230.

[0030] The 206th rotating pair R206 is connected with a driving motor.

[0031] The third motion chain includes a forty-eighth connecting rod assembly and a fifty-fifth connecting rod assembly; it also includes a thirteenth "Y-shaped" driving module, a fourteenth "Y-shaped" driving module, a fifteenth "Y-shaped" module, a sixteenth "Y-shaped" module, a seventeenth "Y-shaped" module and an eighteenth "Y-shaped" module; the forty-eighth connecting rod assembly is connected to the fixed platform through the thirteenth "Y-shaped" driving module and the fourteenth "Y-shaped" driving module; the forty-eighth connecting rod assembly is connected to the fifty-fifth connecting rod assembly through the fifteenth "Y-shaped" module and the sixteenth "Y-shaped" module; the fifty-fifth connecting rod assembly is connected to the moving platform through the seventeenth "Y-shaped" module and the eighteenth "Y-shaped" module.

[0032] The forty-eighth connecting rod assembly includes a fifth U-shaped connecting rod and a second cross bar arranged crosswise, and the center of the rod body of the fifth U-shaped connecting rod is connected to the center of the rod body of the second cross bar;

[0033] The fifty-fifth connecting rod assembly includes a sixth U-shaped connecting rod and a fourth vertical rod that are connected to each other. One end of the fourth vertical rod is connected to the rod body of the sixth U-shaped connecting rod.

[0034] The thirteenth "Y-shaped" driving module includes a forty-second connecting rod, a forty-fourth connecting rod, and a forty-third connecting rod that are connected in sequence. The forty-fourth connecting rod is parallel to the Z-axis. The first end of the forty-second connecting rod is connected to one side surface of the first end of the forty-fourth connecting rod through the 304th rotating pair R304. The second end of the forty-second connecting rod is connected to the fixed platform through the 301st rotating pair R301. The first end of the forty-third connecting rod is connected to one side surface of the second end of the forty-fourth connecting rod through the 303rd rotating pair R303. The second end of the forty-third connecting rod is connected to the fixed platform through the 302nd rotating pair R302. The forty-second connecting rod and the forty-third connecting rod are not coplanar, and the projections of the forty-second connecting rod and the forty-third connecting rod on a certain same plane form an X shape.

[0035] The fourteenth "Y-shaped" driving module includes a forty-fifth connecting rod, a forty-seventh connecting rod, and a forty-sixth connecting rod that are connected in sequence. The forty-seventh connecting rod is parallel to the Z-axis. The first end of the forty-fifth connecting rod is connected to one side surface of the first end of the forty-seventh connecting rod through the 309th rotating pair R309. The second end of the forty-fifth connecting rod is connected to the fixed platform through the 306th rotating pair R306. The first end of the forty-sixth connecting rod is connected to one side surface of the second end of the forty-seventh connecting rod through the 308th rotating pair R308. The second end of the forty-sixth connecting rod is connected to the fixed platform through the 307th rotating pair R307. The forty-fifth connecting rod and the forty-sixth connecting rod are not coplanar, and the projections of the forty-fifth connecting rod and the forty-sixth connecting rod on a certain same plane form an X shape.

[0036] The first end of the fifth U-shaped connecting rod is connected to one side of the center of the rod body of the forty-fourth connecting rod through the 305th rotating pair R305. The second end of the fifth U-shaped connecting rod is connected to one side of the center of the rod body of the forty-seventh connecting rod through the 310th rotating pair R310.

[0037] The fifteenth "Y-shaped" module includes a forty-ninth connecting rod, a fifty-first connecting rod, and a fiftieth connecting rod that are connected in sequence. The fifty-first connecting rod is parallel to the second crossbar. The first end of the forty-ninth connecting rod is connected to one side surface of the first end of the fifty-first connecting rod through the 313th rotating pair R313. The second end of the forty-ninth connecting rod is connected to one side surface of the second crossbar through the 312th rotating pair R312. The first end of the fiftieth connecting rod is connected to one side surface of the second end of the fifty-first connecting rod through the 314th rotating pair R314. The second end of the fiftieth connecting rod is connected to one side surface of the second crossbar through the 311th rotating pair R311. The forty-ninth connecting rod and the fiftieth connecting rod are not coplanar, and the projections of the forty-ninth connecting rod and the fiftieth connecting rod on a certain same plane form an X shape.

[0038] The sixteenth "fork" - shaped module includes a fifty - second connecting rod, a fifty - fourth connecting rod, and a fifty - third connecting rod connected in sequence. The fifty - fourth connecting rod is parallel to the second cross - bar. The first end of the fifty - second connecting rod is connected to one side surface of the first end of the fifty - fourth connecting rod through the 319th rotating pair R319, and the second end of the fifty - second connecting rod is connected to one side surface of the second cross - bar through the 316th rotating pair R316. The first end of the fifty - third connecting rod is connected to one side surface of the second end of the fifty - fourth connecting rod through the 318th rotating pair R318, and the second end of the fifty - third connecting rod is connected to one side surface of the second cross - bar through the 317th rotating pair R317. The fifty - second connecting rod and the fifty - third connecting rod are not coplanar, and the projections of the fifty - second connecting rod and the fifty - third connecting rod on a certain same plane form an X - shape.

[0039] The first end of the sixth U - shaped connecting rod is connected to one side of the center of the rod body of the fifty - first connecting rod through the 315th rotating pair R315. The second end of the sixth U - shaped connecting rod is connected to one side of the center of the rod body of the fifty - fourth connecting rod through the 320th rotating pair R320.

[0040] The seventeenth "fork" - shaped module includes a fifty - sixth connecting rod, a fifty - eighth connecting rod, and a fifty - seventh connecting rod connected in sequence. The fifty - eighth connecting rod is parallel to the fourth vertical rod. The first end of the fifty - sixth connecting rod is connected to one side surface of the first end of the fifty - eighth connecting rod through the 324th rotating pair R324, and the second end of the fifty - sixth connecting rod is connected to one side surface of the fourth vertical rod through the 321st rotating pair R321. The first end of the fifty - seventh connecting rod is connected to one side surface of the second end of the fifty - eighth connecting rod through the 323rd rotating pair R323, and the second end of the fifty - seventh connecting rod is connected to one side surface of the fourth vertical rod through the 322nd rotating pair R322. The fifty - sixth connecting rod and the fifty - seventh connecting rod are not coplanar, and the projections of the fifty - sixth connecting rod and the fifty - seventh connecting rod on a certain same plane form an X - shape. The fifty - eighth connecting rod is connected to the moving platform through the 325th rotating pair R325.

[0041] The eighteenth "fork" - shaped module includes a fifty - ninth connecting rod, a sixty - first connecting rod, and a sixtieth connecting rod connected in sequence. The sixty - first connecting rod is parallel to the fourth vertical rod. The first end of the fifty - ninth connecting rod is connected to one side surface of the first end of the sixty - first connecting rod through the 329th rotating pair R329, and the second end of the fifty - ninth connecting rod is connected to one side surface of the fourth vertical rod through the 326th rotating pair R326. The first end of the sixtieth connecting rod is connected to one side surface of the second end of the sixty - first connecting rod through the 328th rotating pair R328, and the second end of the sixtieth connecting rod is connected to one side surface of the fourth vertical rod through the 327th rotating pair R327. The fifty - ninth connecting rod and the sixtieth connecting rod are not coplanar, and the projections of the fifty - ninth connecting rod and the sixtieth connecting rod on a certain same plane form an X - shape. The sixty - first connecting rod is connected to the moving platform through the 330th rotating pair R330.

[0042] The 306th rotating pair R306 is connected to a driving motor.

[0043] The second technical solution adopted by the present invention is a driving method for an isotropic, fully decoupled, heavy-loaded three-mobile parallel robot. The driving motor set at the 106th rotating pair R106 and the driving motor set at the 101st rotating pair R101 have the same rotation angle; these two driving motors only control the movement of the moving platform parallel to the X-axis; the driving motor set at the 206th rotating pair R206 and the driving motor set at the 201st rotating pair R201 have the same rotation angle, and these two driving motors only control the movement of the moving platform parallel to the Y-axis; the driving motor set at the 306th rotating pair R306 and the driving motor set at the 301st rotating pair R301 have the same rotation angle, and these two driving motors only control the movement of the moving platform parallel to the Z-axis.

[0044] The beneficial effects of the present invention are:

[0045] (1) The parallel robot with a three-dimensional motion mode proposed in this invention has a configuration within its workspace from which the robot's motion performance is the same when moving in three directions. The outputs of the three directions of motion can be independently controlled by three drives.

[0046] (2) The parallel robot with a three-dimensional mobile motion mode proposed in this invention can be driven by adding drive modules. Multiple drive modules can drive the motors simultaneously, which can improve the robot's load-bearing capacity. The robot is composed of a revolute pair and connecting rods. It is not easy to get stuck during operation, is easy to process and manufacture, and has a relatively compact size. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 The isotropic fully decoupled heavy-load three-mobile parallel robot of the present invention is in an isotropic configuration diagram;

[0048] Figure 2 Schematic diagram of the rods and joints of the first kinematic chain in the isotropic fully decoupled heavy-load three-mobile parallel robot of the present invention;

[0049] Figure 3 Schematic diagram of the rods and joints of the second kinematic chain in the isotropic fully decoupled heavy-load three-mobile parallel robot of the present invention;

[0050] Figure 4 Schematic diagram of the rods and joints of the third kinematic chain in the isotropic fully decoupled heavy-load three-mobile parallel robot of the present invention.

[0051] 1. Fixed platform, 2. Second connecting rod, 3. Third connecting rod, 4. Fourth connecting rod, 5. Fifth connecting rod, 6. Sixth connecting rod, 7. Seventh connecting rod, 8. Eighth connecting rod assembly, 9. Ninth connecting rod, 10. Tenth connecting rod, 11. Eleventh connecting rod, 12. Twelfth connecting rod, 13. Thirteenth connecting rod, 14. Fourteenth connecting rod, 15. Fifteenth connecting rod assembly, 16. Sixteenth connecting rod, 17. Seventeenth connecting rod, 18. Eighteenth connecting rod, 19. Nineteenth connecting rod, 20. Twentieth connecting rod, 21. Twenty-first connecting rod, 22. Twenty-second connecting rod, 23. Twenty-third connecting rod, 24. Twenty-fourth connecting rod, 25. Twenty-fifth connecting rod, 26. Twenty-sixth connecting rod, 27. Twenty-seventh connecting rod, 28. Twenty-eighth connecting rod assembly, 29. Twenty-ninth connecting rod, 30. Thirty-first connecting rod, 31. Thirty-first connecting rod, 32. Thirty-second connecting rod, 33. Thirty-third connecting rod Connecting rod, 34. Thirty-fourth connecting rod, 35. Thirty-fifth connecting rod assembly, 36. Thirty-sixth connecting rod, 37. Thirty-seventh connecting rod, 38. Thirty-eighth connecting rod, 39. Thirty-ninth connecting rod, 40. Fortieth connecting rod, 41. Forty-first connecting rod, 42. Forty-second connecting rod, 43. Forty-third connecting rod, 44. Forty-fourth connecting rod, 45. Forty-fifth connecting rod, 46. Forty-sixth connecting rod, 47. Forty-seventh connecting rod, 48. Forty-eighth connecting rod assembly, 49. Forty-ninth connecting rod, 50. Fiftieth connecting rod, 51. Fifty-first connecting rod, 52. Fifty-second connecting rod, 53. Fifty-third connecting rod, 54. Fifty-fourth connecting rod, 55. Fifty-fifth connecting rod assembly, 56. Fifty-sixth connecting rod, 57. Fifty-seventh connecting rod, 58. Fifty-eighth connecting rod, 59. Fifty-ninth connecting rod, 60. Sixtieth connecting rod, 61. Sixty-first connecting rod, 62. Moving platform.

[0052] 8-1. First U-shaped connecting rod, 8-2. First crossbar;

[0053] 15-1. Second U-shaped connecting rod, 15-2. First vertical rod;

[0054] 28-1. The third U-shaped connecting rod, 28-2. The second vertical rod;

[0055] 35-1. Fourth U-shaped connecting rod, 35-2. Third vertical rod;

[0056] 48-1. Fifth U-shaped connecting rod, 48-2. Second crossbar;

[0057] 55-1. Sixth U-shaped connecting rod, 55-2. Fourth vertical rod. DETAILED DESCRIPTION

[0058] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0059] The present invention provides an isotropic fully decoupled heavy-load three-movement parallel robot, such as Figure 1 As shown in the figure, it includes a fixed platform 1 and a moving platform 62. Between the fixed platform 1 and the moving platform 62, a first kinematic chain, a second kinematic chain and a third kinematic chain are provided. The fixed platform 1 and the moving platform 62 are connected through the first kinematic chain, the second kinematic chain and the third kinematic chain.

[0060] The first kinematic chain includes an eighth link assembly 8 and a fifteenth link assembly 15. It also includes a first "X-shaped" drive module, a second "X-shaped" drive module, a third "X-shaped" module, a fourth "X-shaped" module, a fifth "X-shaped" module and a sixth "X-shaped" module. The eighth link assembly 8 is connected to the fixed platform 1 through the first "X-shaped" drive module and the second "X-shaped" drive module. The eighth link assembly 8 is connected to the fifteenth link assembly 15 through the third "X-shaped" module and the fourth "X-shaped" module. The fifteenth link assembly 15 is connected to the moving platform 62 through the fifth "X-shaped" module and the sixth "X-shaped" module. The moving platform 62 includes a platform plate and three U-shaped connecting rods. The rod bodies of the three U-shaped connecting rods are fixedly connected to the platform plate, and the three U-shaped connecting rods are respectively used for the connection of three kinematic chains to the platform plate.

[0061] The eighth link assembly 8 includes a first U-shaped connecting rod 8-1 and a first cross bar 8-2 which are arranged crosswise. The center of the rod body of the first U-shaped connecting rod 8-1 is connected to the center of the rod body of the first cross bar 8-2.

[0062] The fifteenth link assembly 15 includes a second U-shaped connecting rod 15-1 and a first vertical rod 15-2 which are connected to each other. One end of the first vertical rod 15-2 is connected to the center of the rod body of the second U-shaped connecting rod 15-1.

[0063] The first "X-shaped" drive module includes a second link 2, a fourth link 4 and a third link 3 which are connected in sequence. The fourth link 4 is parallel to the fixed platform 1. The first end of the second link 2 is connected to one side of the first end of the fourth link 4 through the 104th revolute pair R104. The second end of the second link 2 is connected to the fixed platform 1 through the 101st revolute pair R101. The first end of the third link 3 is connected to one side of the second end of the fourth link 4 through the 103rd revolute pair R103. The second end of the third link 3 is connected to the fixed platform 1 through the 102nd revolute pair R102. The second link 2 and the third link 3 are not coplanar, and the projections of the second link 2 and the third link 3 on a certain same plane form an X shape.

[0064] The second "Y-shaped" driving module includes a fifth connecting rod 5, a seventh connecting rod 7 and a sixth connecting rod 6 connected in sequence. The seventh connecting rod 7 is parallel to the fixed platform 1. The first end of the fifth connecting rod 5 is connected to one side of the first end of the seventh connecting rod 7 through a 109th rotating pair R109. The second end of the fifth connecting rod 5 is connected to the fixed platform 1 through a 106th rotating pair R106. The first end of the sixth connecting rod 6 is connected to one side of the second end of the seventh connecting rod 7 through a 108th rotating pair R108. The second end of the sixth connecting rod 6 is connected to the fixed platform 1 through a 107th rotating pair R107. The fifth connecting rod 5 and the sixth connecting rod 6 are not coplanar, and the projections of the fifth connecting rod 5 and the sixth connecting rod 6 on a certain same plane form an X shape.

[0065] The first end of the first U-shaped connecting rod 8-1 is connected to one side of the center of the rod body of the fourth connecting rod 4 through a 105th rotating pair R105. The second end of the first U-shaped connecting rod 8-1 is connected to one side of the center of the rod body of the seventh connecting rod 7 through a 110th rotating pair R110.

[0066] The third "Y-shaped" module includes a ninth connecting rod 9, an eleventh connecting rod 11 and a tenth connecting rod 10 connected in sequence. The eleventh connecting rod 11 is parallel to the first cross bar 8-2. The first end of the ninth connecting rod 9 is connected to one side of the first end of the eleventh connecting rod 11 through a 113th rotating pair R113. The second end of the ninth connecting rod 9 is connected to one side of the first cross bar 8-2 through a 112th rotating pair R112. The first end of the tenth connecting rod 10 is connected to one side of the second end of the eleventh connecting rod 11 through a 114th rotating pair R114. The second end of the tenth connecting rod 10 is connected to one side of the first cross bar 8-2 through a 111th rotating pair R111. The ninth connecting rod 9 and the tenth connecting rod 10 are not coplanar, and the projections of the ninth connecting rod 9 and the tenth connecting rod 10 on a certain same plane form an X shape.

[0067] The fourth "Y-shaped" module includes a twelfth connecting rod 12, a fourteenth connecting rod 14 and a thirteenth connecting rod 13 connected in sequence. The fourteenth connecting rod 14 is parallel to the first cross bar 8-2. The first end of the twelfth connecting rod 12 is connected to one side of the first end of the fourteenth connecting rod 14 through a 119th rotating pair R119. The second end of the twelfth connecting rod 12 is connected to one side of the first cross bar 8-2 through a 116th rotating pair R116. The first end of the thirteenth connecting rod 13 is connected to one side of the second end of the fourteenth connecting rod 14 through a 118th rotating pair R118. The second end of the thirteenth connecting rod 13 is connected to one side of the first cross bar 8-2 through a 117th rotating pair R117. The twelfth connecting rod 12 and the thirteenth connecting rod 13 are not coplanar, and the projections of the twelfth connecting rod 12 and the thirteenth connecting rod 13 on a certain same plane form an X shape.

[0068] The first end of the second U-shaped connecting rod 15-1 is connected to one side of the rod body center of the eleventh connecting rod 11 through the 115th rotating pair R115; the second end of the second U-shaped connecting rod 15-1 is connected to one side of the rod body center of the fourteenth connecting rod 14 through the 120th rotating pair R120;

[0069] The fifth "Y-shaped" module includes a sixteenth connecting rod 16, an eighteenth connecting rod 18 and a seventeenth connecting rod 17 connected in sequence. The eighteenth connecting rod 18 is parallel to the first vertical rod 15-2. The first end of the sixteenth connecting rod 16 is connected to one side surface of the first end of the eighteenth connecting rod 18 through the 123rd rotating pair R123. The second end of the sixteenth connecting rod 16 is connected to one side surface of the first vertical rod 15-2 through the 122nd rotating pair R122. The first end of the seventeenth connecting rod 17 is connected to one side surface of the second end of the eighteenth connecting rod 18 through the 124th rotating pair R124. The second end of the seventeenth connecting rod 17 is connected to one side surface of the first vertical rod 15-2 through the 121st rotating pair R121. The sixteenth connecting rod 16 and the seventeenth connecting rod 17 are not coplanar, and the projections of the sixteenth connecting rod 16 and the seventeenth connecting rod 17 on a certain same plane form an X shape. The eighteenth connecting rod 18 is connected to the moving platform 62 through the 125th rotating pair R125;

[0070] The sixth "Y-shaped" module includes a nineteenth connecting rod 19, a twenty-first connecting rod 21 and a twentieth connecting rod 20 connected in sequence. The twenty-first connecting rod 21 is parallel to the first vertical rod 15-2. The first end of the nineteenth connecting rod 19 is connected to one side surface of the first end of the twenty-first connecting rod 21 through the 128th rotating pair R128. The second end of the nineteenth connecting rod 19 is connected to one side surface of the first vertical rod 15-2 through the 127th rotating pair R127. The first end of the twentieth connecting rod 20 is connected to one side surface of the second end of the twenty-first connecting rod 21 through the 129th rotating pair R129. The second end of the twentieth connecting rod 20 is connected to one side surface of the first vertical rod 15-2 through the 126th rotating pair R126. The nineteenth connecting rod 19 and the twentieth connecting rod 20 are not coplanar, and the projections of the nineteenth connecting rod 19 and the twentieth connecting rod 20 on a certain same plane form an X shape. The twenty-first connecting rod 21 is connected to the moving platform 62 through the 130th rotating pair R130.

[0071] The 106th rotating pair R106 is connected with a driving motor.

[0072] The second kinematic chain includes the twenty-eighth link assembly 28 and the thirty-fifth link assembly 35; it also includes the seventh "X-shaped" drive module, the eighth "X-shaped" drive module, the ninth "X-shaped" module, the tenth "X-shaped" module, the eleventh "X-shaped" module and the twelfth "X-shaped" module; the twenty-eighth link assembly 28 is connected to the fixed platform 1 through the seventh "X-shaped" drive module and the eighth "X-shaped" drive module; the twenty-eighth link assembly 28 is connected to the thirty-fifth link assembly 35 through the ninth "X-shaped" module and the tenth "X-shaped" module; the thirty-fifth link assembly 35 is connected to the moving platform 62 through the eleventh "X-shaped" module and the twelfth "X-shaped" module.

[0073] The twenty-eighth link assembly 28 includes a third U-shaped connecting rod 28-1 and a second vertical rod 28-2 which are connected to each other, and one end of the second vertical rod 28-2 is connected to the center of the rod body of the third U-shaped connecting rod 28-1;

[0074] The thirty-fifth link assembly 35 includes a fourth U-shaped connecting rod 35-1 and a third vertical rod 35-2 which are connected to each other, and one end of the third vertical rod 35-2 is connected to the rod body of the fourth U-shaped connecting rod 35-1;

[0075] The seventh "X-shaped" drive module includes a twenty-second link 22, a twenty-fourth link 24 and a twenty-third link 23 which are connected in sequence, and the twenty-fourth link 24 is parallel to the fixed platform 1; the first end of the twenty-second link 22 is connected to one side surface of the first end of the twenty-fourth link 24 through the 204th revolute pair R204, and the second end of the twenty-second link 22 is connected to the fixed platform 1 through the 201st revolute pair R201; the first end of the twenty-third link 23 is connected to one side surface of the second end of the twenty-fourth link 24 through the 203rd revolute pair R203, and the second end of the twenty-third link 23 is connected to the fixed platform 1 through the 202nd revolute pair R202; the twenty-second link 22 and the twenty-third link 23 are not coplanar, and the projections of the twenty-second link 22 and the twenty-third link 23 on a certain same plane form an X shape;

[0076] The eighth "Y-shaped" driving module includes a twenty-fifth connecting rod 25, a twenty-seventh connecting rod 27 and a twenty-sixth connecting rod 26 connected in sequence. The twenty-seventh connecting rod 27 is parallel to the fixed platform 1. The first end of the twenty-fifth connecting rod 25 is connected to one side of the first end of the twenty-seventh connecting rod 27 through a 209th rotating pair R209. The second end of the twenty-fifth connecting rod 25 is connected to the fixed platform 1 through a 206th rotating pair R206. The first end of the twenty-sixth connecting rod 26 is connected to one side of the second end of the twenty-seventh connecting rod 27 through a 208th rotating pair R208. The second end of the twenty-sixth connecting rod 26 is connected to the fixed platform 1 through a 207th rotating pair R207. The twenty-fifth connecting rod 25 and the twenty-sixth connecting rod 26 are not coplanar, and the projections of the twenty-fifth connecting rod 25 and the twenty-sixth connecting rod 26 on a certain same plane form an X shape.

[0077] The first end of the third U-shaped connecting rod 28-1 is connected to one side of the center of the rod body of the twenty-seventh connecting rod 27 through a 210th rotating pair R210. The second end of the third U-shaped connecting rod 28-1 is connected to one side of the center of the rod body of the twenty-fourth connecting rod 24 through a 205th rotating pair R205.

[0078] The ninth "Y-shaped" module includes a twenty-ninth connecting rod 29, a thirty-first connecting rod 31 and a thirtieth connecting rod 30 connected in sequence. The thirty-first connecting rod 31 is parallel to the second vertical rod 28-2. The first end of the twenty-ninth connecting rod 29 is connected to one side of the first end of the thirty-first connecting rod 31 through a 213th rotating pair R213. The second end of the twenty-ninth connecting rod 29 is connected to one side of the second vertical rod 28-2 through a 212th rotating pair R212. The first end of the thirtieth connecting rod 30 is connected to one side of the second end of the thirty-first connecting rod 31 through a 214th rotating pair R214. The second end of the thirtieth connecting rod 30 is connected to one side of the second vertical rod 28-2 through a 211th rotating pair R211. The twenty-ninth connecting rod 29 and the thirtieth connecting rod 30 are not coplanar, and the projections of the twenty-ninth connecting rod 29 and the thirtieth connecting rod 30 on a certain same plane form an X shape.

[0079] The tenth "X-shaped" module includes a thirty-second connecting rod 32, a thirty-fourth connecting rod 34 and a thirty-third connecting rod 33 which are connected in sequence. The thirty-fourth connecting rod 34 is parallel to the second vertical rod 28-2. The first end of the thirty-second connecting rod 32 is connected to one side of the first end of the thirty-fourth connecting rod 34 through the 218th rotating pair R218. The second end of the thirty-second connecting rod 32 is connected to one side of the second vertical rod 28-2 through the 216th rotating pair R216. The first end of the thirty-third connecting rod 33 is connected to one side of the second end of the thirty-fourth connecting rod 34 through the 219th rotating pair R219. The second end of the thirty-third connecting rod 33 is connected to one side of the second vertical rod 28-2 through the 217th rotating pair R217. The thirty-second connecting rod 32 and the thirty-third connecting rod 33 are not coplanar, and the projections of the thirty-second connecting rod 32 and the thirty-third connecting rod 33 on a certain same plane form an X shape.

[0080] The first end of the fourth U-shaped connecting rod 35-1 is connected to one side of the center of the rod body of the thirty-fourth connecting rod 34 through the 220th rotating pair R220. The second end of the fourth U-shaped connecting rod 35-1 is connected to one side of the center of the rod body of the thirty-first connecting rod 31 through the 215th rotating pair R215.

[0081] The eleventh "X-shaped" module includes a thirty-sixth connecting rod 36, a thirty-eighth connecting rod 38 and a thirty-seventh connecting rod 37 which are connected in sequence. The thirty-eighth connecting rod 38 is parallel to the third vertical rod 35-2. The first end of the thirty-sixth connecting rod 36 is connected to one side of the first end of the thirty-eighth connecting rod 38 through the 224th rotating pair R224. The second end of the thirty-sixth connecting rod 36 is connected to one side of the third vertical rod 35-2 through the 221st rotating pair R221. The first end of the thirty-seventh connecting rod 37 is connected to one side of the second end of the thirty-eighth connecting rod 38 through the 223rd rotating pair R223. The second end of the thirty-seventh connecting rod 37 is connected to one side of the third vertical rod 35-2 through the 222nd rotating pair R222. The thirty-sixth connecting rod 36 and the thirty-seventh connecting rod 37 are not coplanar, and the projections of the thirty-sixth connecting rod 36 and the thirty-seventh connecting rod 37 on a certain same plane form an X shape. The thirty-eighth connecting rod 38 is connected to the moving platform 62 through the 225th rotating pair R225.

[0082] The twelfth "X" - shaped module includes the thirty - ninth connecting rod 39, the forty - first connecting rod 41 and the fortieth connecting rod 40 which are connected in sequence. The forty - first connecting rod 41 is parallel to the third vertical rod 35 - 2. The first end of the thirty - ninth connecting rod 39 is connected to one side surface of the first end of the forty - first connecting rod 41 through the 229th rotating pair R229. The second end of the thirty - ninth connecting rod 39 is connected to one side surface of the third vertical rod 35 - 2 through the 226th rotating pair R226. The first end of the fortieth connecting rod 40 is connected to one side surface of the second end of the forty - first connecting rod 41 through the 228th rotating pair R228. The second end of the fortieth connecting rod 40 is connected to one side surface of the third vertical rod 35 - 2 through the 227th rotating pair R227. The thirty - ninth connecting rod 39 and the fortieth connecting rod 40 are not coplanar, and the projections of the thirty - ninth connecting rod 39 and the fortieth connecting rod 40 on a certain same plane form an "X" shape. The forty - first connecting rod 41 is connected to the moving platform 62 through the 230th rotating pair R230.

[0083] The 206th rotating pair R206 is connected to a driving motor.

[0084] The third kinematic chain includes the forty - eighth connecting - rod assembly 48 and the fifty - fifth connecting - rod assembly 55. It also includes the thirteenth "X" - shaped driving module, the fourteenth "X" - shaped driving module, the fifteenth "X" - shaped module, the sixteenth "X" - shaped module, the seventeenth "X" - shaped module and the eighteenth "X" - shaped module. The forty - eighth connecting - rod assembly 48 is connected to the fixed platform 1 through the thirteenth "X" - shaped driving module and the fourteenth "X" - shaped driving module. The forty - eighth connecting - rod assembly 48 is connected to the fifty - fifth connecting - rod assembly 55 through the fifteenth "X" - shaped module and the sixteenth "X" - shaped module. The fifty - fifth connecting - rod assembly 55 is connected to the moving platform 62 through the seventeenth "X" - shaped module and the eighteenth "X" - shaped module.

[0085] The forty - eighth connecting - rod assembly 48 includes the fifth U - shaped connecting rod 48 - 1 and the second cross - bar 48 - 2 which are arranged cross - wise, and the center of the rod body of the fifth U - shaped connecting rod 48 - is connected to the center of the rod body of the second cross - bar 48 - 2.

[0086] The fifty - fifth connecting - rod assembly 55 includes the sixth U - shaped connecting rod 55 - and the fourth vertical rod 55 - 2 which are connected to each other, and one end of the fourth vertical rod 55 - 2 is connected to the rod body of the sixth U - shaped connecting rod 55 - 1.

[0087] The thirteenth "fork-shaped" driving module includes a forty-second connecting rod 42, a forty-fourth connecting rod 44, and a forty-third connecting rod 43 that are connected in sequence. The first end of the forty-second connecting rod 42 is connected to one side of the first end of the forty-fourth connecting rod 44 through a 304th rotating pair R304. The second end of the forty-second connecting rod 42 is connected to the fixed platform 1 through a 301st rotating pair R301. The first end of the forty-third connecting rod 43 is connected to one side of the second end of the forty-fourth connecting rod 44 through a 303rd rotating pair R303. The second end of the forty-third connecting rod 43 is connected to the fixed platform 1 through a 302nd rotating pair R302. The forty-second connecting rod 42 and the forty-third connecting rod 43 are not coplanar, and the projections of the forty-second connecting rod 42 and the forty-third connecting rod 43 on a certain same plane form an X shape.

[0088] The fourteenth "fork-shaped" driving module includes a forty-fifth connecting rod 45, a forty-seventh connecting rod 47, and a forty-sixth connecting rod 46 that are connected in sequence. The first end of the forty-fifth connecting rod 45 is connected to one side of the first end of the forty-seventh connecting rod 47 through a 309th rotating pair R309. The second end of the forty-fifth connecting rod 45 is connected to the fixed platform 1 through a 306th rotating pair R306. The first end of the forty-sixth connecting rod 46 is connected to one side of the second end of the forty-seventh connecting rod 47 through a 308th rotating pair R308. The second end of the forty-sixth connecting rod 46 is connected to the fixed platform 1 through a 307th rotating pair R307. The forty-fifth connecting rod 45 and the forty-sixth connecting rod 46 are not coplanar, and the projections of the forty-fifth connecting rod 45 and the forty-sixth connecting rod 46 on a certain same plane form an X shape.

[0089] The first end of the fifth U-shaped connecting rod 48-1 is connected to one side of the center of the rod body of the forty-fourth connecting rod 44 through a 305th rotating pair R305. The second end of the fifth U-shaped connecting rod 48-1 is connected to one side of the center of the rod body of the forty-seventh connecting rod 47 through a 310th rotating pair R310.

[0090] The fifteenth "fork-shaped" module includes a forty-ninth connecting rod 49, a fifty-first connecting rod 51, and a fiftieth connecting rod 50 that are connected in sequence. The fifty-first connecting rod 51 is parallel to the second cross bar 48-2. The first end of the forty-ninth connecting rod 49 is connected to one side of the first end of the fifty-first connecting rod 51 through a 313th rotating pair R313. The second end of the forty-ninth connecting rod 49 is connected to one side of the second cross bar 48-2 through a 312th rotating pair R312. The first end of the fiftieth connecting rod 50 is connected to one side of the second end of the fifty-first connecting rod 51 through a 314th rotating pair R314. The second end of the fiftieth connecting rod 50 is connected to one side of the second cross bar 48-2 through a 311th rotating pair R311. The forty-ninth connecting rod 49 and the fiftieth connecting rod 50 are not coplanar, and the projections of the forty-ninth connecting rod 49 and the fiftieth connecting rod 50 on a certain same plane form an X shape.

[0091] The sixteenth "Y"-shaped module includes a fifty-second connecting rod 52, a fifty-fourth connecting rod 54, and a fifty-third connecting rod 53 that are connected in sequence. The fifty-fourth connecting rod 54 is parallel to the second cross bar 48-2. The first end of the fifty-second connecting rod 52 is connected to one side surface of the first end of the fifty-fourth connecting rod 54 through a 319th revolute pair R319. The second end of the fifty-second connecting rod 52 is connected to one side surface of the second cross bar 48-2 through a 316th revolute pair R316. The first end of the fifty-third connecting rod 53 is connected to one side surface of the second end of the fifty-fourth connecting rod 54 through a 318th revolute pair R318. The second end of the fifty-third connecting rod 53 is connected to one side surface of the second cross bar 48-2 through a 317th revolute pair R317. The fifty-second connecting rod 52 and the fifty-third connecting rod 53 are not coplanar, and the projections of the fifty-second connecting rod 52 and the fifty-third connecting rod 53 on a certain same plane form an X shape.

[0092] The first end of the sixth U-shaped connecting rod 55-1 is connected to one side of the center of the rod body of the fifty-first connecting rod 51 through a 315th revolute pair R315. The second end of the sixth U-shaped connecting rod 55-1 is connected to one side of the center of the rod body of the fifty-fourth connecting rod 54 through a 320th revolute pair R320.

[0093] The seventeenth "Y"-shaped module includes a fifty-sixth connecting rod 56, a fifty-eighth connecting rod 58, and a fifty-seventh connecting rod 57 that are connected in sequence. The fifty-eighth connecting rod 58 is parallel to the fourth vertical rod 55-2. The first end of the fifty-sixth connecting rod 56 is connected to one side surface of the first end of the fifty-eighth connecting rod 58 through a 324th revolute pair R324. The second end of the fifty-sixth connecting rod 56 is connected to one side surface of the fourth vertical rod 55-2 through a 321st revolute pair R321. The first end of the fifty-seventh connecting rod 57 is connected to one side surface of the second end of the fifty-eighth connecting rod 58 through a 323rd revolute pair R323. The second end of the fifty-seventh connecting rod 57 is connected to one side surface of the fourth vertical rod 55-2 through a 322nd revolute pair R322. The fifty-sixth connecting rod 56 and the fifty-seventh connecting rod 57 are not coplanar, and the projections of the fifty-sixth connecting rod 56 and the fifty-seventh connecting rod 57 on a certain same plane form an X shape. The fifty-eighth connecting rod 58 is connected to the moving platform 62 through a 325th revolute pair R325.

[0094] The eighteenth "Y-shaped" module includes the fifty-ninth connecting rod 59, the sixty-first connecting rod 61, and the sixtieth connecting rod 60 connected in sequence. The sixty-first connecting rod 61 is parallel to the fourth vertical rod 55-2. The first end of the fifty-ninth connecting rod 59 is connected to one side surface of the first end of the sixty-first connecting rod 61 through the 329th rotating pair R329. The second end of the fifty-ninth connecting rod 59 is connected to one side surface of the fourth vertical rod 55-2 through the 326th rotating pair R326. The first end of the sixtieth connecting rod 60 is connected to one side surface of the second end of the sixty-first connecting rod 61 through the 328th rotating pair R328. The second end of the sixtieth connecting rod 60 is connected to one side surface of the fourth vertical rod 55-2 through the 327th rotating pair R327. The fifty-ninth connecting rod 59 and the sixtieth connecting rod 60 are not coplanar, and the projections of the fifty-ninth connecting rod 59 and the sixtieth connecting rod 60 on a certain same plane form an X shape. The sixty-first connecting rod 61 is connected to the moving platform 62 through the 330th rotating pair R330.

[0095] The 306th rotating pair R306 is connected to a driving motor.

[0096] The first kinematic chain, the second kinematic chain, the third kinematic chain Figure 2 For the first kinematic chain shown, the second connecting rod 2 is rotationally connected to the fixed platform 1 through the 101st rotating pair R101. The second connecting rod 2 is rotationally connected to the fourth connecting rod 4 through the 104th rotating pair R104. The fourth connecting rod 4 is rotationally connected to the third connecting rod 3 through the 103rd rotating pair R103. The third connecting rod 3 is rotationally connected to the fixed platform 1 through the 102nd rotating pair. The fourth connecting rod 4 is rotationally connected to the eighth connecting rod assembly 8 through the 105th rotating pair R105.

[0097] Figure 2 For the first kinematic chain shown, the fifth connecting rod 5 is rotationally connected to the fixed platform 1 through the 106th rotating pair R106. The fifth connecting rod 5 is rotationally connected to the seventh connecting rod 7 through the 109th rotating pair R109. The seventh connecting rod 7 is rotationally connected to the sixth connecting rod 6 through the 108th rotating pair R108. The sixth connecting rod 6 is rotationally connected to the fixed platform 1 through the 107th rotating pair R107. The seventh connecting rod 7 is rotationally connected to the eighth connecting rod assembly 8 through the 110th rotating pair.

[0098] Figure 2 For the first kinematic chain shown, the eighth connecting rod assembly 8 is rotationally connected to the tenth connecting rod 10 through the 111th rotating pair R111. The tenth connecting rod 10 is rotationally connected to the eleventh connecting rod 11 through the 114th rotating pair R114. The eleventh connecting rod 11 is rotationally connected to the ninth connecting rod 9 through the 113th rotating pair R113. The ninth connecting rod 9 is rotationally connected to the eighth connecting rod assembly 8 through the 112th rotating pair R112.

[0099] Figure 2In the first motion chain shown, the eighth connecting rod assembly 8 is rotationally connected to the thirteenth connecting rod 13 through the 117th rotating pair R117, the thirteenth connecting rod 13 is rotationally connected to the fourteenth connecting rod 14 through the 118th rotating pair R118, the fourteenth connecting rod 14 is rotationally connected to the twelfth connecting rod 12 through the 119th rotating pair R119, the twelfth connecting rod 12 is rotationally connected to the eighth connecting rod assembly 8 through the 116th rotating pair R116, and the fourteenth connecting rod 14 is rotationally connected to the fifteenth connecting rod assembly 15 through the 120th rotating pair R120.

[0100] Figure 2 In the first motion chain shown, the fifteenth connecting rod assembly 15 is rotationally connected to the seventeenth connecting rod 17 through the 121st rotating pair R121, the seventeenth connecting rod 17 is rotationally connected to the eighteenth connecting rod 18 through the 124th rotating pair R124, the eighteenth connecting rod 18 is rotationally connected to the sixteenth connecting rod 16 through the 123rd rotating pair R123, the sixteenth connecting rod 16 is rotationally connected to the fifteenth connecting rod assembly 15 through the 122nd rotating pair R122, and the eighteenth connecting rod 18 is rotationally connected to the moving platform 62 through the 125th rotating pair R125.

[0101] Figure 2 In the first motion chain shown, the fifteenth connecting rod assembly 15 is rotationally connected to the twentieth connecting rod 20 through the 126th rotating pair R126, the 20th connecting rod 20 is rotationally connected to the twenty-first connecting rod 21 through the 129th rotating pair R129, the twenty-first connecting rod 21 is rotationally connected to the nineteenth connecting rod 19 through the 128th rotating pair R128, the nineteenth connecting rod 19 is rotationally connected to the fifteenth connecting rod assembly 15 through the 127th rotating pair R127, and the twenty-first connecting rod 21 is rotationally connected to the moving platform 62 through the 130th rotating pair R130.

[0102] Figure 2 In the first kinematic chain shown, the axes of the 101st rotational pair R101, the 102nd rotational pair R102, the 103rd rotational pair R103, the 104th rotational pair R104, the 105th rotational pair R105, the 106th rotational pair R106, the 107th rotational pair R107, the 108th rotational pair R108, the 109th rotational pair R109 and the 110th rotational pair R110 are parallel to the Y axis.

[0103] Figure 2 In the first kinematic chain shown, the axes of the 111th rotational pair R111, the 112th rotational pair R112, the 113th rotational pair R113, the 114th rotational pair R114, the 115th rotational pair R115, the 116th rotational pair R116, the 117th rotational pair R117, the 118th rotational pair R118, the 119th rotational pair R119 and the 120th rotational pair R120 are parallel to the X-axis.

[0104] Figure 2In the first kinematic chain shown, the axes of the 121st rotational pair R121, the 122nd rotational pair R122, the 123rd rotational pair R123, the 124th rotational pair R124, the 125th rotational pair R125, the 126th rotational pair R126, the 127th rotational pair R127, the 128th rotational pair R128, the 129th rotational pair R129 and the 130th rotational pair R130 are parallel to the X-axis.

[0105] Figure 2 In the first kinematic chain shown, the length of the second link 2 is the same as that of the third link 3, which is 2.5 times the length of the fourth link 4. The distance from the axis of the 101st revolute pair R101 to the axis of the 102nd revolute pair R102 is twice the length of the fourth link 4.

[0106] Figure 2 In the first kinematic chain shown, the length of the fifth link 5 is the same as that of the sixth link 6, which is 2.5 times the length of the seventh link 7. The distance from the axis of the 106th revolute pair R106 to the axis of the 107th revolute pair R107 is twice the length of the seventh link 7.

[0107] Figure 2 In the first kinematic chain shown, the length of the ninth connecting rod 9 is the same as that of the tenth connecting rod 10, which is 2.5 times the length of the eleventh connecting rod 11. The distance from the axis of the 111th revolute pair R111 to the axis of the 112th revolute pair R112 is twice the length of the eleventh connecting rod 11.

[0108] Figure 2 In the first kinematic chain shown, the twelfth connecting rod 12 has the same length as the thirteenth connecting rod 13, which is 2.5 times the length of the fourteenth connecting rod 14. The distance from the axis of the 116th revolute pair R116 to the axis of the 117th revolute pair R117 is twice the length of the fourteenth connecting rod 14.

[0109] Figure 2 In the first kinematic chain shown, the length of the sixteenth connecting rod 16 is the same as that of the seventeenth connecting rod 17, which is 2.5 times the length of the eighteenth connecting rod 18. The distance from the axis of the 121st revolute pair R121 to the axis of the 122nd revolute pair R122 is twice the length of the eighteenth connecting rod 18.

[0110] Figure 2 In the first kinematic chain shown, the length of the 19th connecting rod 19 is the same as that of the 20th connecting rod 20, which is 2.5 times the length of the 21st connecting rod 21. The distance from the axis of the 126th revolute pair R126 to the axis of the 127th revolute pair R127 is twice the length of the 21st connecting rod 21.

[0111] Figure 2In the first kinematic chain shown, the fourth connecting rod 4, the seventh connecting rod 7, the fourteenth connecting rod 14, the eleventh connecting rod 11, the eighteenth connecting rod 18, and the twenty-first connecting rod 21 have the same length.

[0112] Figure 2 In the first kinematic chain shown, the R101 rotation pair is connected to the rotation drive pair.

[0113] Figure 3 In the second motion chain shown, the twenty-second connecting rod 22 is rotationally connected to the fixed platform 1 through the 201st rotational pair R201, the twenty-second connecting rod 22 is rotationally connected to the twenty-fourth connecting rod 24 through the 204th rotational pair R204, the twenty-fourth connecting rod 24 is rotationally connected to the twenty-third connecting rod 23 through the 203rd rotational pair R203, the twenty-third connecting rod 23 is rotationally connected to the fixed platform 1 through the 202nd rotational pair, and the twenty-fourth connecting rod 24 is rotationally connected to the twenty-eighth connecting rod assembly 28 through the 205th rotational pair R205.

[0114] Figure 3 In the second motion chain shown, the twenty-fifth link 25 is rotationally connected to the fixed platform 1 through the 206th rotational pair R206, the twenty-fifth link 25 is rotationally connected to the twenty-seventh link 27 through the 209th rotational pair R209, the twenty-seventh link 27 is rotationally connected to the twenty-sixth link 26 through the 208th rotational pair R208, the twenty-sixth link 26 is rotationally connected to the fixed platform 1 through the 207th rotational pair R207, and the twenty-seventh link 27 is rotationally connected to the twenty-eighth link assembly 28 through the 210th rotational pair.

[0115] Figure 3 In the second motion chain shown, the twenty-eighth connecting rod assembly 28 is rotationally connected to the 30th connecting rod 30 through the 211th rotational pair R211, the 30th connecting rod 30 is rotationally connected to the 31st connecting rod 31 through the 214th rotational pair R214, the 31st connecting rod 31 is rotationally connected to the 29th connecting rod 29 through the 213th rotational pair R213, the 29th connecting rod 29 is rotationally connected to the 28th connecting rod assembly 28 through the 212th rotational pair R212, and the 31st connecting rod 31 is rotationally connected to the 35th connecting rod through the 215th rotational pair R215.

[0116] Figure 3 In the second kinematic chain shown, the 28th connecting rod assembly 28 is rotationally connected to the 32nd connecting rod 32 via the 216th rotational joint R216, the 32nd connecting rod 32 is rotationally connected to the 34th connecting rod 34 via the 218th rotational joint R218, the 34th connecting rod 34 is rotationally connected to the 33rd connecting rod 33 via the 219th rotational joint R219, and the 33rd connecting rod 33 is rotationally connected to the 28th connecting rod assembly 28 via the 217th rotational joint R217. The 34th connecting rod 34 is rotationally connected to the 35th connecting rod assembly 35 via the 220th rotational joint R220.

[0117] Figure 3 In the second motion chain shown, the thirty-fifth connecting rod assembly 35 is rotationally connected to the thirty-sixth connecting rod 36 through the 221st rotational pair R221, the thirty-sixth connecting rod 36 is rotationally connected to the thirty-eighth connecting rod 38 through the 224th rotational pair R224, the thirty-eighth connecting rod 38 is rotationally connected to the thirty-seventh connecting rod 37 through the 223rd rotational pair R223, the thirty-seventh connecting rod 37 is rotationally connected to the thirty-fifth connecting rod assembly 35 through the 222nd rotational pair R222, and the thirty-eighth connecting rod 38 is rotationally connected to the moving platform 62 through the 225th rotational pair R225.

[0118] Figure 3 In the second motion chain shown, the thirty-fifth connecting rod assembly 35 is rotationally connected to the thirty-ninth connecting rod 39 through the 226th rotational pair R226, the thirty-ninth connecting rod 39 is rotationally connected to the forty-first connecting rod 41 through the 229th rotational pair R229, the forty-first connecting rod 41 is rotationally connected to the fortieth connecting rod 40 through the 228th rotational pair R228, the fortieth connecting rod 40 is rotationally connected to the thirty-fifth connecting rod assembly 35 through the 227th rotational pair R227, and the forty-first connecting rod 41 is rotationally connected to the moving platform 62 through the 230th rotational pair R230.

[0119] Figure 3 In the second kinematic chain shown, the axes of the 201st rotational pair R201, the 202nd rotational pair R202, the 203rd rotational pair R203, the 204th rotational pair R204, the 205th rotational pair R205, the 206th rotational pair R206, the 207th rotational pair R207, the 208th rotational pair R208, the 209th rotational pair R209 and the 210th rotational pair R210 are parallel to the X-axis.

[0120] Figure 3 In the second kinematic chain shown, the axes of the 211th rotational pair R211, the 212th rotational pair R212, the 213th rotational pair R213, the 214th rotational pair R214, the 215th rotational pair R215, the 216th rotational pair R216, the 217th rotational pair R217, the 218th rotational pair R218, the 219th rotational pair R219 and the 220th rotational pair R220 are parallel to the X-axis.

[0121] Figure 3 In the second kinematic chain shown, the axes of the 221st rotational pair R221, the 222nd rotational pair R222, the 223rd rotational pair R223, the 224th rotational pair R224, the 225th rotational pair R225, the 226th rotational pair R226, the 227th rotational pair R227, the 228th rotational pair R228, the 229th rotational pair R229, and the 230th rotational pair R230 are parallel to the Y axis.

[0122] Figure 3 In the second kinematic chain shown, the length of the 22nd connecting rod 22 is the same as that of the 23rd connecting rod 23, which is 2.5 times the length of the 24th connecting rod 24. The distance from the axis of the 201st revolute pair R201 to the axis of the 202nd revolute pair R202 is twice the length of the 24th connecting rod 24.

[0123] Figure 3 In the second kinematic chain shown, the length of the 25th connecting rod 25 is the same as that of the 26th connecting rod 26, which is 2.5 times the length of the 27th connecting rod 27. The distance from the axis of the 206th revolute pair R206 to the axis of the 207th revolute pair R207 is twice the length of the 27th connecting rod 27.

[0124] Figure 3 In the second kinematic chain shown, the 29th connecting rod 29 has the same length as the 30th connecting rod 30, which is 2.5 times the length of the 31st connecting rod 31. The distance from the axis of the 211th revolute pair R211 to the axis of the 212th revolute pair R212 is twice the length of the 31st connecting rod 31.

[0125] Figure 3 In the second kinematic chain shown, the length of the 32nd connecting rod 32 is the same as that of the 33rd connecting rod 33, which is 2.5 times the length of the 34th connecting rod 34. The distance from the axis of the 216th revolute pair R216 to the axis of the 217th revolute pair R217 is twice the length of the 34th connecting rod 34.

[0126] Figure 3 In the second kinematic chain shown, the length of the 36th connecting rod 36 is the same as that of the 37th connecting rod 37, which is 2.5 times the length of the 38th connecting rod 38. The distance from the axis of the 221st revolute pair R221 to the axis of the 222nd revolute pair R222 is twice the length of the 38th connecting rod 38.

[0127] Figure 3 In the second kinematic chain shown, the 39th connecting rod 39 has the same length as the 40th connecting rod 40, which is 2.5 times the length of the 41st connecting rod 41. The distance from the axis of the 226th revolute pair R226 to the axis of the 227th revolute pair R227 is twice the length of the 41st connecting rod 41.

[0128] Figure 3 In the second kinematic chain shown, the twenty-fourth connecting rod 24, the twenty-seventh connecting rod 27, the thirty-fourth connecting rod 34, the thirty-first connecting rod 31, the thirty-eighth connecting rod 38, and the forty-first connecting rod 41 have the same length.

[0129] Figure 3 In the second kinematic chain shown, the R201 rotation pair is connected to the rotation drive pair.

[0130] Figure 4In the third motion chain shown, the forty-second connecting rod 42 is rotationally connected to the fixed platform 1 through the 301st rotational pair R301, the forty-second connecting rod 42 is rotationally connected to the forty-fourth connecting rod 44 through the 304th rotational pair R304, the forty-fourth connecting rod 44 is rotationally connected to the forty-third connecting rod 43 through the 303rd rotational pair R303, the forty-third connecting rod 43 is rotationally connected to the fixed platform 1 through the 302nd rotational pair, and the forty-fourth connecting rod 44 is rotationally connected to the forty-eighth connecting rod assembly 48 through the 305th rotational pair R305.

[0131] Figure 4 In the third motion chain shown, the forty-fifth link 45 is rotationally connected to the fixed platform 1 through the 306th rotational pair R306, the forty-fifth link 45 is rotationally connected to the forty-seventh link 47 through the 309th rotational pair R309, the forty-seventh link 47 is rotationally connected to the forty-sixth link 46 through the 308th rotational pair R308, the forty-sixth link 46 is rotationally connected to the fixed platform 1 through the 307th rotational pair R307, and the forty-seventh link 47 is rotationally connected to the forty-eighth link assembly 48 through the 310th rotational pair.

[0132] Figure 4 In the third motion chain shown, the forty-eighth connecting rod assembly 48 is rotationally connected to the fiftieth connecting rod 50 through the 311th rotating pair R311, the fiftieth connecting rod 50 is rotationally connected to the fifty-first connecting rod 51 through the 314th rotating pair R314, the fifty-first connecting rod 51 is rotationally connected to the forty-ninth connecting rod 49 through the 313th rotating pair R313, the forty-ninth connecting rod 49 is rotationally connected to the forty-eighth connecting rod assembly 48 through the 312th rotating pair R312, and the fifty-first connecting rod 51 is rotationally connected to the fifty-fifth connecting rod through the 315th rotating pair R315.

[0133] Figure 4 In the third kinematic chain shown, the 48th connecting rod assembly 48 is rotationally connected to the 52nd connecting rod 52 via the 316th rotational joint R316, the 52nd connecting rod 52 is rotationally connected to the 54th connecting rod 54 via the 319th rotational joint R319, the 54th connecting rod 54 is rotationally connected to the 53rd connecting rod 53 via the 318th rotational joint R318, and the 53rd connecting rod 53 is rotationally connected to the 48th connecting rod assembly 48 via the 317th rotational joint R317. The 54th connecting rod 54 is rotationally connected to the 55th connecting rod assembly 55 via the 320th rotational joint R320.

[0134] Figure 4In the third motion chain shown, the fifty-fifth connecting rod assembly 55 is rotationally connected to the fifty-sixth connecting rod 56 through the 321st rotation pair R321, the fifty-sixth connecting rod 56 is rotationally connected to the fifty-eighth connecting rod 58 through the 324th rotation pair R324, the fifty-eighth connecting rod 58 is rotationally connected to the fifty-seventh connecting rod 57 through the 323rd rotation pair R323, the fifty-seventh connecting rod 57 is rotationally connected to the fifty-fifth connecting rod assembly 55 through the 322nd rotation pair R322, and the fifty-eighth connecting rod 58 is rotationally connected to the moving platform 62 through the 325th rotation pair R325.

[0135] Figure 4 In the third motion chain shown, the fifty-fifth connecting rod assembly 55 is rotationally connected to the fifty-ninth connecting rod 59 through the 326th rotating pair R326, the fifty-ninth connecting rod 59 is rotationally connected to the sixty-first connecting rod 61 through the 329th rotating pair R329, the sixty-first connecting rod 61 is rotationally connected to the sixtieth connecting rod 60 through the 328th rotating pair R328, the sixtieth connecting rod 60 is rotationally connected to the fifty-fifth connecting rod assembly 55 through the 327th rotating pair R327, and the sixty-first connecting rod 61 is rotationally connected to the moving platform 62 through the 330th rotating pair R330.

[0136] Figure 4 In the third kinematic chain shown, the axes of the 301st rotational pair R301, the 302nd rotational pair R302, the 303rd rotational pair R303, the 304th rotational pair R304, the 305th rotational pair R305, the 306th rotational pair R306, the 307th rotational pair R307, the 308th rotational pair R308, the 309th rotational pair R309 and the 310th rotational pair R310 are parallel to the X-axis.

[0137] Figure 4 In the third kinematic chain shown, the axes of the 311th rotational pair R311, the 312th rotational pair R312, the 313th rotational pair R313, the 314th rotational pair R314, the 315th rotational pair R315, the 316th rotational pair R316, the 317th rotational pair R317, the 318th rotational pair R318, the 319th rotational pair R319 and the 320th rotational pair R320 are parallel to the Y axis.

[0138] Figure 4 In the third kinematic chain shown, the axes of the 321st rotational pair R321, the 322nd rotational pair R322, the 323rd rotational pair R323, the 324th rotational pair R324, the 325th rotational pair R325, the 326th rotational pair R326, the 327th rotational pair R327, the 328th rotational pair R328, the 329th rotational pair R329 and the 330th rotational pair R330 are parallel to the Y axis.

[0139] Figure 4In the third kinematic chain shown, the length of the 42nd connecting rod 42 is the same as that of the 43rd connecting rod 43, which is 2.5 times the length of the 44th connecting rod 44. The distance from the axis of the 301st revolute pair R301 to the axis of the 302nd revolute pair R302 is twice the length of the 44th connecting rod 44.

[0140] Figure 4 In the third kinematic chain shown, the length of the 45th connecting rod 45 is the same as that of the 46th connecting rod 46, which is 2.5 times the length of the 47th connecting rod 47. The distance from the axis of the 306th revolute pair R306 to the axis of the 307th revolute pair R307 is twice the length of the 47th connecting rod 47.

[0141] Figure 4 In the third kinematic chain shown, the 49th connecting rod 49 has the same length as the 50th connecting rod 50 and is 2.5 times the length of the 51st connecting rod 51. The distance from the axis of the 311th revolute pair R311 to the axis of the 312th revolute pair R312 is twice the length of the 51st connecting rod 51.

[0142] Figure 4 In the third kinematic chain, the length of the fifty-second connecting rod 52 is the same as that of the fifty-third connecting rod 53, which is 2.5 times the length of the fifty-fourth connecting rod 54. The distance from the axis of the 316th revolute pair R316 to the axis of the 317th revolute pair R317 is twice the length of the fifty-fourth connecting rod 54.

[0143] Figure 4 In the third kinematic chain shown, the length of the fifty-sixth connecting rod 56 is the same as that of the fifty-seventh connecting rod 57, which is 2.5 times the length of the fifty-eighth connecting rod 58. The distance from the axis of the 321st revolute pair R321 to the axis of the 322nd revolute pair R322 is twice the length of the fifty-eighth connecting rod 58.

[0144] Figure 4 In the third kinematic chain, the 59th connecting rod 59 has the same length as the 60th connecting rod 60 and is 2.5 times the length of the 61st connecting rod 61. The distance from the axis of the 326th revolute pair R326 to the axis of the 327th revolute pair R327 is twice the length of the 61st connecting rod 61.

[0145] Figure 4 In the third kinematic chain shown, the forty-fourth connecting rod 44, the forty-seventh connecting rod 47, the fifty-fourth connecting rod 54, the fifty-first connecting rod 51, the fifty-eighth connecting rod 58, and the sixty-first connecting rod 61 have the same length.

[0146] Figure 4 In the third kinematic chain shown, the R301 rotation pair is connected to the rotation drive pair.

[0147] Figure 1 In the configuration of the mechanism shown, the first kinematic chain is as follows Figure 2 As shown, the fourth connecting rod 4 is parallel to the seventh connecting rod 7 ; the fourteenth connecting rod 14 is parallel to the eleventh connecting rod 11 ; and the eighteenth connecting rod 18 is parallel to the twenty-first connecting rod 21 .

[0148] Figure 1 In the configuration of the mechanism shown, the second kinematic chain is as follows Figure 3 As shown, the twenty-fourth connecting rod 24 is parallel to the twenty-seventh connecting rod 27 ; the thirty-fourth connecting rod 34 is parallel to the thirty-first connecting rod 31 ; and the forty-eighth connecting rod assembly 48 is parallel to the forty-first connecting rod 41 .

[0149] Figure 1 In the configuration of the mechanism shown, the third kinematic chain is as follows Figure 4 As shown, the forty-fourth connecting rod 44 is parallel to the forty-seventh connecting rod 47 ; the fifty-fourth connecting rod 54 is parallel to the fifty-first connecting rod 51 ; and the fifty-eighth connecting rod 58 is parallel to the sixty-first connecting rod 61 .

[0150] Figure 1 The first kinematic chain of the mechanism shown is Figure 2 As shown, a driving motor can be provided at the 106th rotating pair R106; Figure 1 The second kinematic chain of the mechanism shown is as follows: Figure 3 As shown, a driving motor can be provided at the 206th rotating pair R206; Figure 1 The third kinematic chain of the mechanism shown is Figure 4 As shown, a drive motor can be set at the 306th rotating pair R306.

[0151] Figure 1 The first kinematic chain of the mechanism shown is Figure 2 As shown, the driving motor provided at the 106th rotation pair R106 and the driving motor provided at the 101st rotation pair R101 have the same rotation angle; these two driving motors only control the movement of the platform parallel to the X axis. Figure 1 The second kinematic chain of the mechanism shown is as follows: Figure 3 As shown, the driving motor provided at the 206th rotation pair R206 and the driving motor provided at the 201st rotation pair R201 have the same rotation angle, and these two driving motors only control the movement of the platform parallel to the Y axis; Figure 1 The third kinematic chain of the mechanism shown is Figure 4 As shown, the driving motor set at the 306th rotation pair R306 and the driving motor set at the 301st rotation pair R301 have the same rotation angle, and these two driving motors only control the movement of the platform parallel to the Z axis. Figure 1In the shown mechanism configuration, when the moving platform 62 moves in three directions, the motion performance of the robot is the same. The outputs of the movements in the X, Y, and Z directions can be independently controlled by the drives on the three kinematic chains. The load-bearing capacity in a certain moving direction during the three-dimensional movement of the moving platform 62 can be improved by increasing the number of driving pairs.

[0152] Figure 1 In the first kinematic chain of the shown mechanism, the closed-loop kinematic chain module composed of the 101st revolute pair R101, the second link 2, the 104th revolute pair 104, the fourth link 4, the 103rd revolute pair R103, the third link 3, and the 102nd revolute pair R102 serves as the first driving module in the first kinematic chain.

[0153] Figure 1 In the first kinematic chain of the shown mechanism, the closed-loop kinematic chain module composed of the 106th revolute pair R106, the fifth link 5, the 109th revolute pair 109, the seventh link 7, the 108th revolute pair R108, the sixth link 6, and the 107th revolute pair R107 serves as the second "Y-shaped" driving module in the first kinematic chain. Similarly, a first "Y-shaped" driving module can be arranged along the X-axis similar to the second "Y-shaped" driving module in the first kinematic chain to improve the driving power of the first kinematic chain and the ability of the moving platform 62 to bear external loads in the X-axis direction. Similarly, a seventh "Y-shaped" driving module and an eighth "Y-shaped" driving module are also arranged in the second kinematic chain, and a thirteenth "Y-shaped" driving module and a fourteenth "Y-shaped" driving module of this structure are arranged in the third kinematic chain, improving the load-bearing capacity of the moving platform 62 in the corresponding directions.

[0154] Embodiment 1

[0155] An isotropic and fully decoupled heavy-duty three-translation parallel robot, as Figure 1 shown, includes a fixed platform, 1 and a moving platform 62; a first kinematic chain, a second kinematic chain, and a third kinematic chain are arranged between the fixed platform 1 and the moving platform 62, and the fixed platform 1 and the moving platform 62 are connected through the first kinematic chain, the second kinematic chain, and the third kinematic chain;

[0156] The first kinematic chain includes an eighth link assembly 8 and a fifteenth link assembly 15; it also includes a first "Y-shaped" driving module, a second "Y-shaped" driving module, a third "Y-shaped" module, a fourth "Y-shaped" module, a fifth "Y-shaped" module, and a sixth "Y-shaped" module; the eighth link assembly 8 is connected to the fixed platform 1 through the first "Y-shaped" driving module and the second "Y-shaped" driving module; the eighth link assembly 8 is connected to the fifteenth link assembly 15 through the third "Y-shaped" module and the fourth "Y-shaped" module; the fifteenth link assembly 15 is connected to the moving platform 62 through the fifth "Y-shaped" module and the sixth "Y-shaped" module.

[0157] Embodiment 2

[0158] An isotropic and fully decoupled heavy-duty three-translational parallel robot, as Figure 1 shown, includes a fixed platform 1 and a moving platform 62; a first motion chain, a second motion chain and a third motion chain are arranged between the fixed platform 1 and the moving platform 62, and the fixed platform 1 and the moving platform 62 are connected through the first motion chain, the second motion chain and the third motion chain;

[0159] The first motion chain includes an eighth link assembly 8 and a fifteenth link assembly 15; it also includes a first "fork-shaped" driving module, a second "fork-shaped" driving module, a third "fork-shaped" module, a fourth "fork-shaped" module, a fifth "fork-shaped" module and a sixth "fork-shaped" module; the eighth link assembly 8 is connected to the fixed platform 1 through the first "fork-shaped" driving module and the second "fork-shaped" driving module; the eighth link assembly 8 is connected to the fifteenth link assembly 15 through the third "fork-shaped" module and the fourth "fork-shaped" module; the fifteenth link assembly 15 is connected to the moving platform 62 through the fifth "fork-shaped" module and the sixth "fork-shaped" module.

[0160] The eighth link assembly 8 includes a first U-shaped connecting rod 8-1 and a first cross bar 8-2 which are arranged crosswise, and the center of the rod body of the first U-shaped connecting rod 8-1 is connected to the center of the rod body of the first cross bar 8-2.

[0161] Embodiment 3

[0162] An isotropic and fully decoupled heavy-duty three-translational parallel robot, as Figure 1 shown, includes a fixed platform 1 and a moving platform 62; a first motion chain, a second motion chain and a third motion chain are arranged between the fixed platform 1 and the moving platform 62, and the fixed platform 1 and the moving platform 62 are connected through the first motion chain, the second motion chain and the third motion chain;

[0163] The first motion chain includes an eighth link assembly 8 and a fifteenth link assembly 15; it also includes a first "fork-shaped" driving module, a second "fork-shaped" driving module, a third "fork-shaped" module, a fourth "fork-shaped" module, a fifth "fork-shaped" module and a sixth "fork-shaped" module; the eighth link assembly 8 is connected to the fixed platform 1 through the first "fork-shaped" driving module and the second "fork-shaped" driving module; the eighth link assembly 8 is connected to the fifteenth link assembly 15 through the third "fork-shaped" module and the fourth "fork-shaped" module; the fifteenth link assembly 15 is connected to the moving platform 62 through the fifth "fork-shaped" module and the sixth "fork-shaped" module.

[0164] The eighth link assembly 8 includes a first U-shaped connecting rod 8-1 and a first cross bar 8-2 which are arranged crosswise, and the center of the rod body of the first U-shaped connecting rod 8-1 is connected to the center of the rod body of the first cross bar 8-2;

[0165] The first "X-shaped" drive module includes a second link 2, a fourth link 4, and a third link 3 that are connected in sequence. The fourth link 4 is parallel to the fixed platform 1. The first end of the second link 2 is connected to one side of the first end of the fourth link 4 through the 104th revolute pair R104, and the second end of the second link 2 is connected to the fixed platform 1 through the 101st revolute pair R101. The first end of the third link 3 is connected to one side of the second end of the fourth link 4 through the 103rd revolute pair R103, and the second end of the third link 3 is connected to the fixed platform 1 through the 102nd revolute pair R102. The second link 2 and the third link 3 are not coplanar, and the projections of the second link 2 and the third link 3 on a certain same plane form an X shape.

[0166] Embodiment 4

[0167] An isotropic and fully decoupled heavy-duty three-translation parallel robot, as Figure 1 shown, includes a fixed platform 1 and a moving platform 62. A first kinematic chain, a second kinematic chain, and a third kinematic chain are arranged between the fixed platform 1 and the moving platform 62, and the fixed platform 1 and the moving platform 62 are connected through the first kinematic chain, the second kinematic chain, and the third kinematic chain.

[0168] The first kinematic chain includes an eighth link assembly 8 and a fifteenth link assembly 15. It also includes a first "X-shaped" drive module, a second "X-shaped" drive module, a third "X-shaped" module, a fourth "X-shaped" module, a fifth "X-shaped" module, and a sixth "X-shaped" module. The eighth link assembly 8 is connected to the fixed platform 1 through the first "X-shaped" drive module and the second "X-shaped" drive module. The eighth link assembly 8 is connected to the fifteenth link assembly 15 through the third "X-shaped" module and the fourth "X-shaped" module. The fifteenth link assembly 15 is connected to the moving platform 62 through the fifth "X-shaped" module and the sixth "X-shaped" module. <舍

[0169] The eighth link assembly 8 includes a first U-shaped connecting rod 8-1 and a first cross bar 8-2 that are arranged crosswise, and the center of the rod body of the first U-shaped connecting rod 8-1 is connected to the center of the rod body of the first cross bar 8-2.

[0170] The first "X"-shaped driving module includes a second connecting rod 2, a fourth connecting rod 4 and a third connecting rod 3 which are connected in sequence. The fourth connecting rod 4 is parallel to the fixed platform 1. The first end of the second connecting rod 2 is connected to one side surface of the first end of the fourth connecting rod 4 through a 104th rotating pair R104, and the second end of the second connecting rod 2 is connected to the fixed platform 1 through a 101st rotating pair R101. The first end of the third connecting rod 3 is connected to one side surface of the second end of the fourth connecting rod 4 through a 103rd rotating pair R103, and the second end of the third connecting rod 3 is connected to the fixed platform 1 through a 102nd rotating pair R102. The second connecting rod 2 and the third connecting rod 3 are not coplanar, and the projections of the second connecting rod 2 and the third connecting rod 3 on a certain same plane form an "X" shape.

[0171] The second "X"-shaped driving module includes a fifth connecting rod 5, a seventh connecting rod 7 and a sixth connecting rod 6 which are connected in sequence. The seventh connecting rod 7 is parallel to the fixed platform 1. The first end of the fifth connecting rod 5 is connected to one side surface of the first end of the seventh connecting rod 7 through a 109th rotating pair R109, and the second end of the fifth connecting rod 5 is connected to the fixed platform 1 through a 106th rotating pair R106. The first end of the sixth connecting rod 6 is connected to one side surface of the second end of the seventh connecting rod 7 through a 108th rotating pair R108, and the second end of the sixth connecting rod 6 is connected to the fixed platform 1 through a 107th rotating pair R107. The fifth connecting rod 5 and the sixth connecting rod 6 are not coplanar, and the projections of the fifth connecting rod 5 and the sixth connecting rod 6 on a certain same plane form an "X" shape.

[0172] Embodiment 5

[0173] An isotropic and fully decoupled heavy-duty three-translation parallel robot, as Figure 1 shown, includes a fixed platform 1 and a moving platform 62. A first motion chain, a second motion chain and a third motion chain are arranged between the fixed platform 1 and the moving platform 62, and the fixed platform 1 and the moving platform 62 are connected through the first motion chain, the second motion chain and the third motion chain.

[0174] The first motion chain includes an eighth connecting rod assembly 8 and a fifteenth connecting rod assembly 15. It also includes a first "X"-shaped driving module, a second "X"-shaped driving module, a third "X"-shaped module, a fourth "X"-shaped module, a fifth "X"-shaped module and a sixth "X"-shaped module. The eighth connecting rod assembly 8 is connected to the fixed platform 1 through the first "X"-shaped driving module and the second "X"-shaped driving module. The eighth connecting rod assembly 8 is connected to the fifteenth connecting rod assembly 15 through the third "X"-shaped module and the fourth "X"-shaped module. The fifteenth connecting rod assembly 15 is connected to the moving platform 62 through the fifth "X"-shaped module and the sixth "X"-shaped module.

[0175] The eighth connecting rod assembly 8 includes a first U-shaped connecting rod 8-1 and a first cross bar 8-2 which are arranged crosswise, and the center of the rod body of the first U-shaped connecting rod 8-1 is connected to the center of the rod body of the first cross bar 8-2.

[0176] The fifteenth link assembly 15 includes a second U-shaped connecting rod 15-1 and a first vertical rod 15-2 which are connected to each other. One end of the first vertical rod 15-2 is connected to the center of the rod body of the second U-shaped connecting rod 15-1;

[0177] The first "fork-shaped" drive module includes a second link 2, a fourth link 4 and a third link 3 which are connected in sequence. The fourth link 4 is parallel to the fixed platform 1; The first end of the second link 2 is connected to one side of the first end of the fourth link 4 through the 104th revolute pair R104, and the second end of the second link 2 is connected to the fixed platform 1 through the 101st revolute pair R101; The first end of the third link 3 is connected to one side of the second end of the fourth link 4 through the 103rd revolute pair R103, and the second end of the third link 3 is connected to the fixed platform 1 through the 102nd revolute pair R102; The second link 2 and the third link 3 are not coplanar, and the projections of the second link 2 and the third link 3 on a certain same plane form an X shape;

[0178] The second "fork-shaped" drive module includes a fifth link 5, a seventh link 7 and a sixth link 6 which are connected in sequence. The seventh link 7 is parallel to the fixed platform 1; The first end of the fifth link 5 is connected to one side of the first end of the seventh link 7 through the 109th revolute pair R109, and the second end of the fifth link 5 is connected to the fixed platform 1 through the 106th revolute pair R106; The first end of the sixth link 6 is connected to one side of the second end of the seventh link 7 through the 108th revolute pair R108, and the second end of the sixth link 6 is connected to the fixed platform 1 through the 107th revolute pair R107; The fifth link 5 and the sixth link 6 are not coplanar, and the projections of the fifth link 5 and the sixth link 6 on a certain same plane form an X shape;

[0179] The first end of the first U-shaped connecting rod 8-1 is connected to one side of the center of the rod body of the fourth link 4 through the 105th revolute pair R105; The second end of the first U-shaped connecting rod 8-1 is connected to one side of the center of the rod body of the seventh link 7 through the 110th revolute pair R110;

[0180] Embodiment 6

[0181] An isotropic and fully decoupled heavy-duty three-translation parallel robot, as Figure 1 shown, includes a fixed platform 1 and a moving platform 62; A first kinematic chain, a second kinematic chain and a third kinematic chain are arranged between the fixed platform 1 and the moving platform 62, and the fixed platform 1 and the moving platform 62 are connected through the first kinematic chain, the second kinematic chain and the third kinematic chain;

[0182] The first kinematic chain includes an eighth link assembly 8 and a fifteenth link assembly 15; it also includes a first "fork-shaped" drive module, a second "fork-shaped" drive module, a third "fork-shaped" module, a fourth "fork-shaped" module, a fifth "fork-shaped" module and a sixth "fork-shaped" module; the eighth link assembly 8 is connected to the fixed platform 1 through the first "fork-shaped" drive module and the second "fork-shaped" drive module; the eighth link assembly 8 is connected to the fifteenth link assembly 15 through the third "fork-shaped" module and the fourth "fork-shaped" module; the fifteenth link assembly 15 is connected to the moving platform 62 through the fifth "fork-shaped" module and the sixth "fork-shaped" module.

[0183] The eighth link assembly 8 includes a first U-shaped connecting rod 8-1 and a first cross bar 8-2 which are arranged crosswise, and the center of the rod body of the first U-shaped connecting rod 8-1 is connected to the center of the rod body of the first cross bar 8-2;

[0184] The fifteenth link assembly 15 includes a second U-shaped connecting rod 15-1 and a first vertical rod 15-2 which are connected to each other, and one end of the first vertical rod 15-2 is connected to the center of the rod body of the second U-shaped connecting rod 15-1;

[0185] The first "fork-shaped" drive module includes a second link 2, a fourth link 4 and a third link 3 which are connected in sequence, and the fourth link 4 is parallel to the fixed platform 1; the first end of the second link 2 is connected to one side surface of the first end of the fourth link 4 through the 104th rotating pair R104, and the second end of the second link 2 is connected to the fixed platform 1 through the 101st rotating pair R101; the first end of the third link 3 is connected to one side surface of the second end of the fourth link 4 through the 103rd rotating pair R103, and the second end of the third link 3 is connected to the fixed platform 1 through the 102nd rotating pair R102; the second link 2 and the third link 3 are not coplanar, and the projections of the second link 2 and the third link 3 on a certain same plane form an X shape;

[0186] The second "fork-shaped" drive module includes a fifth link 5, a seventh link 7 and a sixth link 6 which are connected in sequence, and the seventh link 7 is parallel to the fixed platform 1; the first end of the fifth link 5 is connected to one side surface of the first end of the seventh link 7 through the 109th rotating pair R109, and the second end of the fifth link 5 is connected to the fixed platform 1 through the 106th rotating pair R106; the first end of the sixth link 6 is connected to one side surface of the second end of the seventh link 7 through the 108th rotating pair R108, and the second end of the sixth link 6 is connected to the fixed platform 1 through the 107th rotating pair R107; the fifth link 5 and the sixth link 6 are not coplanar, and the projections of the fifth link 5 and the sixth link 6 on a certain same plane form an X shape;

[0187] One end of the first U-shaped connecting rod 8-1 is connected to one side of the center of the rod body of the fourth connecting rod 4 through the 105th rotating pair R105; the other end of the first U-shaped connecting rod 8-1 is connected to one side of the center of the rod body of the seventh connecting rod 7 through the 110th rotating pair R110;

[0188] The third "fork" - shaped module includes a ninth connecting rod 9, an eleventh connecting rod 11 and a tenth connecting rod 10 which are connected in sequence. The eleventh connecting rod 11 is parallel to the first cross bar 8-2; one end of the ninth connecting rod 9 is connected to one side surface of the first end of the eleventh connecting rod 11 through the 113th rotating pair R113, and the other end of the ninth connecting rod 9 is connected to one side surface of the first cross bar 8-2 through the 112th rotating pair R112; one end of the tenth connecting rod 10 is connected to one side surface of the second end of the eleventh connecting rod 11 through the 114th rotating pair R114, and the other end of the tenth connecting rod 10 is connected to one side surface of the first cross bar 8-2 through the 111th rotating pair R111; the ninth connecting rod 9 and the tenth connecting rod 10 are not coplanar, and the projections of the ninth connecting rod 9 and the tenth connecting rod 10 on a certain same plane form an X shape.

Claims

1. Isotropic fully decoupled heavy-load three-mobile parallel robot, characterized by: It includes a fixed platform (1) and a moving platform (62); between the fixed platform (1) and the moving platform (62), a first motion chain, a second motion chain and a third motion chain are provided, and the fixed platform (1) and the moving platform (62) are connected through the first motion chain, the second motion chain and the third motion chain; The first motion chain includes an eighth link assembly (8) and a fifteenth link assembly (15); it also includes a first "fork-shaped" drive module, a second "fork-shaped" drive module, a third "fork-shaped" module, a fourth "fork-shaped" module, a fifth "fork-shaped" module and a sixth "fork-shaped" module; the eighth link assembly (8) is connected to the fixed platform (1) through the first "fork-shaped" drive module and the second "fork-shaped" drive module; the eighth link assembly (8) is connected to the fifteenth link assembly (15) through the third "fork-shaped" module and the fourth "fork-shaped" module; the fifteenth link assembly (15) is connected to the moving platform (62) through the fifth "fork-shaped" module and the sixth "fork-shaped" module; The eighth link assembly (8) includes a first U-shaped connecting rod (8-1) and a first cross bar (8-2) arranged crosswise, and the center of the rod body of the first U-shaped connecting rod (8-1) is connected to the center of the rod body of the first cross bar (8-2); The fifteenth link assembly (15) includes a second U-shaped connecting rod (15-1) and a first vertical rod (15-2) connected to each other, and one end of the first vertical rod (15-2) is connected to the center of the rod body of the second U-shaped connecting rod (15-1); The first "fork-shaped" drive module includes a second link (2), a fourth link (4) and a third link (3) connected in sequence, and the fourth link (4) is parallel to the fixed platform (1); the first end of the second link (2) is connected to one side of the first end of the fourth link (4) through a 104th rotating pair R104, and the second end of the second link (2) is connected to the fixed platform (1) through a 101st rotating pair R101; the first end of the third link (3) is connected to one side of the second end of the fourth link (4) through a 103rd rotating pair R103, and the second end of the third link (3) is connected to the fixed platform (1) through a 102nd rotating pair R102; the second link (2) and the third link (3) are not coplanar, and the projections of the second link (2) and the third link (3) on a certain same plane form an X shape; The second "Y-shaped" driving module includes a fifth connecting rod (5), a seventh connecting rod (7) and a sixth connecting rod (6) which are connected in sequence. The seventh connecting rod (7) is parallel to the fixed platform (1); the first end of the fifth connecting rod (5) is connected to one side surface of the first end of the seventh connecting rod (7) through a 109th rotating pair R109, and the second end of the fifth connecting rod (5) is connected to the fixed platform (1) through a 106th rotating pair R106; the first end of the sixth connecting rod (6) is connected to one side surface of the second end of the seventh connecting rod (7) through a 108th rotating pair R108, and the second end of the sixth connecting rod (6) is connected to the fixed platform (1) through a 107th rotating pair R107; the fifth connecting rod (5) and the sixth connecting rod (6) are not coplanar, and the projections of the fifth connecting rod (5) and the sixth connecting rod (6) on a certain same plane form an X shape; The first end of the first U-shaped connecting rod (8-1) is connected to one side of the center of the rod body of the fourth connecting rod (4) through a 105th rotating pair R105; the second end of the first U-shaped connecting rod (8-1) is connected to one side of the center of the rod body of the seventh connecting rod (7) through a 110th rotating pair R110; The third "Y-shaped" module includes a ninth connecting rod (9), an eleventh connecting rod (11) and a tenth connecting rod (10) which are connected in sequence. The eleventh connecting rod (11) is parallel to the first cross bar (8-2); the first end of the ninth connecting rod (9) is connected to one side surface of the first end of the eleventh connecting rod (11) through a 113th rotating pair R113, and the second end of the ninth connecting rod (9) is connected to one side surface of the first cross bar (8-2) through a 112th rotating pair R112; the first end of the tenth connecting rod (10) is connected to one side surface of the second end of the eleventh connecting rod (11) through a 114th rotating pair R114, and the second end of the tenth connecting rod (10) is connected to one side surface of the first cross bar (8-2) through a 111th rotating pair R111; the ninth connecting rod (9) and the tenth connecting rod (10) are not coplanar, and the projections of the ninth connecting rod (9) and the tenth connecting rod (10) on a certain same plane form an X shape; ​ The first end of the second U-shaped connecting rod (15-1) is connected to one side of the center of the rod body of the eleventh connecting rod (11) through the 115th rotating pair R115; the second end of the second U-shaped connecting rod (15-1) is connected to one side of the center of the rod body of the fourteenth connecting rod (14) through the 120th rotating pair R120; The fifth "fork" shaped module includes a sixteenth connecting rod (16), an eighteenth connecting rod (18) and a seventeenth connecting rod (17) connected in sequence. The eighteenth connecting rod (18) is parallel to the first vertical rod (15-2); the first end of the sixteenth connecting rod (16) is connected to one side surface of the first end of the eighteenth connecting rod (18) through the 123rd rotating pair R123, and the second end of the sixteenth connecting rod (16) is connected to one side surface of the first vertical rod (15-2) through the 122nd rotating pair R122; the first end of the seventeenth connecting rod (17) is connected to one side surface of the second end of the eighteenth connecting rod (18) through the 124th rotating pair R124, and the second end of the seventeenth connecting rod (17) is connected to one side surface of the first vertical rod (15-2) through the 121st rotating pair R121; the sixteenth connecting rod (16) and the seventeenth connecting rod (17) are not coplanar, and the projections of the sixteenth connecting rod (16) and the seventeenth connecting rod (17) on a certain same plane form an X shape; the eighteenth connecting rod (18) is connected to the moving platform (62) through the 125th rotating pair R125; The sixth "fork" shaped module includes a nineteenth connecting rod (19), a twenty-first connecting rod (21) and a twentieth connecting rod (20) connected in sequence. The twenty-first connecting rod (21) is parallel to the first vertical rod (15-2); the first end of the nineteenth connecting rod (19) is connected to one side surface of the first end of the twenty-first connecting rod (21) through the 128th rotating pair R128, and the second end of the nineteenth connecting rod (19) is connected to one side surface of the first vertical rod (15-2) through the 127th rotating pair R127; the first end of the twentieth connecting rod (20) is connected to one side surface of the second end of the twenty-first connecting rod (21) through the 129th rotating pair R129, and the second end of the twentieth connecting rod (20) is connected to one side surface of the first vertical rod (15-2) through the 126th rotating pair R126; the nineteenth connecting rod (19) and the twentieth connecting rod (20) are not coplanar, and the projections of the nineteenth connecting rod (19) and the twentieth connecting rod (20) on a certain same plane form an X shape; the twenty-first connecting rod (21) is connected to the moving platform (62) through the 130th rotating pair R130; The second kinematic chain includes a twenty-eighth link assembly (28) and a thirty-fifth link assembly (35); it also includes a seventh "X"-shaped drive module, an eighth "X"-shaped drive module, a ninth "X"-shaped module, a tenth "X"-shaped module, an eleventh "X"-shaped module, and a twelfth "X"-shaped module; the twenty-eighth link assembly (28) is connected to the fixed platform (1) through the seventh "X"-shaped drive module and the eighth "X"-shaped drive module; the twenty-eighth link assembly (28) is connected to the thirty-fifth link assembly (35) through the ninth "X"-shaped module and the tenth "X"-shaped module; the thirty-fifth link assembly (35) is connected to the moving platform (62) through the eleventh "X"-shaped module and the twelfth "X"-shaped module.

2. The isotropic fully decoupled heavy-load three-movement parallel robot according to claim 1, characterized in that: A drive motor is connected to the 106th revolute pair R106.

3. The isotropic fully decoupled heavy-load three-movement parallel robot according to claim 2, characterized in that: The twenty-eighth link assembly (28) includes a third U-shaped connecting rod (28-1) and a second vertical rod (28-2) connected to each other, and one end of the second vertical rod (28-2) is connected to the center of the rod body of the third U-shaped connecting rod (28-1); The thirty-fifth link assembly (35) includes a fourth U-shaped connecting rod (35-1) and a third vertical rod (35-2) connected to each other, and one end of the third vertical rod (35-2) is connected to the rod body of the fourth U-shaped connecting rod (35-1); The seventh "X"-shaped drive module includes a twenty-second link (22), a twenty-fourth link (24), and a twenty-third link (23) connected in sequence, and the twenty-fourth link (24) is parallel to the fixed platform (1); the first end of the twenty-second link (22) is connected to one side surface of the first end of the twenty-fourth link (24) through the 204th revolute pair R204, and the second end of the twenty-second link (22) is connected to the fixed platform (1) through the 201st revolute pair R201; the first end of the twenty-third link (23) is connected to one side surface of the second end of the twenty-fourth link (24) through the 203rd revolute pair R203, and the second end of the twenty-third link (23) is connected to the fixed platform (1) through the 202nd revolute pair R202; the twenty-second link (22) and the twenty-third link (23) are not coplanar, and the projections of the twenty-second link (22) and the twenty-third link (23) on a certain same plane form an X shape; The eighth "fork-shaped" driving module includes a twenty-fifth connecting rod (25), a twenty-seventh connecting rod (27), and a twenty-sixth connecting rod (26) connected in sequence. The twenty-seventh connecting rod (27) is parallel to the fixed platform (1). The first end of the twenty-fifth connecting rod (25) is connected to one side of the first end of the twenty-seventh connecting rod (27) through a 209th rotating pair R209. The second end of the twenty-fifth connecting rod (25) is connected to the fixed platform (1) through a 206th rotating pair R206. The first end of the twenty-sixth connecting rod (26) is connected to one side of the second end of the twenty-seventh connecting rod (27) through a 208th rotating pair R208. The second end of the twenty-sixth connecting rod (26) is connected to the fixed platform (1) through a 207th rotating pair R207. The twenty-fifth connecting rod (25) and the twenty-sixth connecting rod (26) are not coplanar, and the projections of the twenty-fifth connecting rod (25) and the twenty-sixth connecting rod (26) on a certain same plane form an X shape. The first end of the third U-shaped connecting rod (28-1) is connected to one side of the center of the rod body of the twenty-seventh connecting rod (27) through a 210th rotating pair R210. The second end of the third U-shaped connecting rod (28-1) is connected to one side of the center of the rod body of the twenty-fourth connecting rod (24) through a 205th rotating pair R205. The ninth "fork-shaped" module includes a twenty-ninth connecting rod (29), a thirty-first connecting rod (31), and a thirtieth connecting rod (30) connected in sequence. The thirty-first connecting rod (31) is parallel to the second vertical rod (28-2). The first end of the twenty-ninth connecting rod (29) is connected to one side of the first end of the thirty-first connecting rod (31) through a 213th rotating pair R213. The second end of the twenty-ninth connecting rod (29) is connected to one side of the second vertical rod (28-2) through a 212th rotating pair R212. The first end of the thirtieth connecting rod (30) is connected to one side of the second end of the thirty-first connecting rod (31) through a 214th rotating pair R214. The second end of the thirtieth connecting rod (30) is connected to one side of the second vertical rod (28-2) through a 211th rotating pair R211. The twenty-ninth connecting rod (29) and the thirtieth connecting rod (30) are not coplanar, and the projections of the twenty-ninth connecting rod (29) and the thirtieth connecting rod (30) on a certain same plane form an X shape. The tenth "X" - shaped module includes a thirty - second connecting rod (32), a thirty - fourth connecting rod (34), and a thirty - third connecting rod (33) connected in sequence. The thirty - fourth connecting rod (34) is parallel to the second vertical rod (28 - 2). The first end of the thirty - second connecting rod (32) is connected to one side of the first end of the thirty - fourth connecting rod (34) through the 218th rotating pair R218, and the second end of the thirty - second connecting rod (32) is connected to one side of the second vertical rod (28 - 2) through the 216th rotating pair R216. The first end of the thirty - third connecting rod (33) is connected to one side of the second end of the thirty - fourth connecting rod (34) through the 219th rotating pair R219, and the second end of the thirty - third connecting rod (33) is connected to one side of the second vertical rod (28 - 2) through the 217th rotating pair R217. The thirty - second connecting rod (32) and the thirty - third connecting rod (33) are not coplanar, and the projections of the thirty - second connecting rod (32) and the thirty - third connecting rod (33) on a certain same plane form an "X" shape; The first end of the fourth U - shaped connecting rod (35 - 1) is connected to one side of the center of the rod body of the thirty - fourth connecting rod (34) through the 220th rotating pair R220. The second end of the fourth U - shaped connecting rod (35 - 1) is connected to one side of the center of the rod body of the thirty - first connecting rod (31) through the 215th rotating pair R215; The eleventh "X" - shaped module includes a thirty - sixth connecting rod (36), a thirty - eighth connecting rod (38), and a thirty - seventh connecting rod (37) connected in sequence. The thirty - eighth connecting rod (38) is parallel to the third vertical rod (35 - 2). The first end of the thirty - sixth connecting rod (36) is connected to one side of the first end of the thirty - eighth connecting rod (38) through the 224th rotating pair R224, and the second end of the thirty - sixth connecting rod (36) is connected to one side of the third vertical rod (35 - 2) through the 221st rotating pair R221. The first end of the thirty - seventh connecting rod (37) is connected to one side of the second end of the thirty - eighth connecting rod (38) through the 223rd rotating pair R223, and the second end of the thirty - seventh connecting rod (37) is connected to one side of the third vertical rod (35 - 2) through the 222nd rotating pair R222. The thirty - sixth connecting rod (36) and the thirty - seventh connecting rod (37) are not coplanar, and the projections of the thirty - sixth connecting rod (36) and the thirty - seventh connecting rod (37) on a certain same plane form an "X" shape. The thirty - eighth connecting rod (38) is connected to the moving platform (62) through the 225th rotating pair R225; The twelfth "Y-shaped" module includes a thirty-ninth connecting rod (39), a forty-first connecting rod (41), and a fortieth connecting rod (40) that are connected in sequence. The forty-first connecting rod (41) is parallel to the third vertical rod (35-2). The first end of the thirty-ninth connecting rod (39) is connected to one side surface of the first end of the forty-first connecting rod (41) through the 229th rotating pair R229. The second end of the thirty-ninth connecting rod (39) is connected to one side surface of the third vertical rod (35-2) through the 226th rotating pair R226. The first end of the fortieth connecting rod (40) is connected to one side surface of the second end of the forty-first connecting rod (41) through the 228th rotating pair R228. The second end of the fortieth connecting rod (40) is connected to one side surface of the third vertical rod (35-2) through the 227th rotating pair R227. The thirty-ninth connecting rod (39) and the fortieth connecting rod (40) are not coplanar, and the projections of the thirty-ninth connecting rod (39) and the fortieth connecting rod (40) on the same plane form an X shape. The forty-first connecting rod (41) is connected to the moving platform (62) through the 230th rotating pair R230.

4. The isotropic fully decoupled heavy-load three-movement parallel robot according to claim 3, characterized in that: The 206th rotating pair R206 is connected to a driving motor.

5. The isotropic fully decoupled heavy-load three-movement parallel robot according to claim 4, characterized in that: The third kinematic chain includes a forty-eighth connecting rod assembly (48) and a fifty-fifth connecting rod assembly (55). It also includes a thirteenth "Y-shaped" driving module, a fourteenth "Y-shaped" driving module, a fifteenth "Y-shaped" module, a sixteenth "Y-shaped" module, a seventeenth "Y-shaped" module, and an eighteenth "Y-shaped" module. The forty-eighth connecting rod assembly (48) is connected to the fixed platform (1) through the thirteenth "Y-shaped" driving module and the fourteenth "Y-shaped" driving module. The forty-eighth connecting rod assembly (48) is connected to the fifty-fifth connecting rod assembly (55) through the fifteenth "Y-shaped" module and the sixteenth "Y-shaped" module. The fifty-fifth connecting rod assembly (55) is connected to the moving platform (62) through the seventeenth "Y-shaped" module and the eighteenth "Y-shaped" module.

6. The isotropic fully decoupled heavy-load three-movement parallel robot according to claim 5, characterized in that: The forty-eighth connecting rod assembly (48) includes a fifth U-shaped connecting rod (48-1) and a second cross bar (48-2) that are arranged crosswise. The center of the rod body of the fifth U-shaped connecting rod (48-1) is connected to the center of the rod body of the second cross bar (48-2). The fifty-fifth connecting rod assembly (55) includes a sixth U-shaped connecting rod (55-1) and a fourth vertical rod (55-2) that are connected to each other. One end of the fourth vertical rod (55-2) is connected to the rod body of the sixth U-shaped connecting rod (55-1). The thirteenth "Y-shaped" driving module includes a forty-second connecting rod (42), a forty-fourth connecting rod (44), and a forty-third connecting rod (43) that are connected in sequence; the first end of the forty-second connecting rod (42) is connected to one side of the first end of the forty-fourth connecting rod (44) through the 304th rotating pair R304, and the second end of the forty-second connecting rod (42) is connected to the fixed platform (1) through the 301st rotating pair R301; the first end of the forty-third connecting rod (43) is connected to one side of the second end of the forty-fourth connecting rod (44) through the 303rd rotating pair R303, and the second end of the forty-third connecting rod (43) is connected to the fixed platform (1) through the 302nd rotating pair R302; the forty-second connecting rod (42) and the forty-third connecting rod (43) are not coplanar, and the projections of the forty-second connecting rod (42) and the forty-third connecting rod (43) on a certain same plane form an X shape; The fourteenth "Y-shaped" driving module includes a forty-fifth connecting rod (45), a forty-seventh connecting rod (47), and a forty-sixth connecting rod (46) that are connected in sequence; the first end of the forty-fifth connecting rod (45) is connected to one side of the first end of the forty-seventh connecting rod (47) through the 309th rotating pair R309, and the second end of the forty-fifth connecting rod (45) is connected to the fixed platform (1) through the 306th rotating pair R306; the first end of the forty-sixth connecting rod (46) is connected to one side of the second end of the forty-seventh connecting rod (47) through the 308th rotating pair R308, and the second end of the forty-sixth connecting rod (the 46) is connected to the fixed platform (1) through the 307th rotating pair R307; the forty-fifth connecting rod (45) and the forty-sixth connecting rod (46) are not coplanar, and the projections of the forty-fifth connecting rod (45) and the forty-sixth connecting rod (46) on a certain same plane form an X shape; The first end of the fifth U-shaped connecting rod (48-1) is connected to one side of the center of the rod body of the forty-fourth connecting rod (44) through the 305th rotating pair R305; the second end of the fifth U-shaped connecting rod (48-1) is connected to one side of the center of the rod body of the forty-seventh connecting rod (47) through the 310th rotating pair R310; The fifteenth "Y-shaped" module includes a forty-ninth connecting rod (49), a fifty-first connecting rod (51), and a fiftieth connecting rod (50) that are connected in sequence, and the fifty-first connecting rod (51) is parallel to the second cross bar (48-2); the first end of the forty-ninth connecting rod (49) is connected to one side of the first end of the fifty-first connecting rod (51) through the 313th rotating pair R313, and the second end of the forty-ninth connecting rod (49) is connected to one side of the second cross bar (48-2) through the 312th rotating pair R312; the first end of the fiftieth connecting rod (50) is connected to one side of the second end of the fifty-first connecting rod (51) through the 314th rotating pair R314, and the second end of the fiftieth connecting rod (50) is connected to one side of the second cross bar (48-2) through the 311th rotating pair R311; the forty-ninth connecting rod (49) and the fiftieth connecting rod (50) are not coplanar, and the projections of the forty-ninth connecting rod (49) and the fiftieth connecting rod (50) on a certain same plane form an X shape; The sixteenth "Y-shaped" module includes a fifty-second connecting rod (52), a fifty-fourth connecting rod (54) and a fifty-third connecting rod (53) connected in sequence. The fifty-fourth connecting rod (54) is parallel to the second cross bar (48-2). The first end of the fifty-second connecting rod (52) is connected to one side surface of the first end of the fifty-fourth connecting rod (54) through the 319th revolute pair R319. The second end of the fifty-second connecting rod (52) is connected to one side surface of the second cross bar (48-2) through the 316th revolute pair R316. The first end of the fifty-third connecting rod (53) is connected to one side surface of the second end of the fifty-fourth connecting rod (54) through the 318th revolute pair R318. The second end of the fifty-third connecting rod (53) is connected to one side surface of the second cross bar (48-2) through the 317th revolute pair R317. The fifty-second connecting rod (52) and the fifty-third connecting rod (53) are not coplanar, and the projections of the fifty-second connecting rod (52) and the fifty-third connecting rod (53) on a certain same plane form an X shape; The first end of the sixth U-shaped connecting rod (55-1) is connected to one side of the center of the rod body of the fifty-first connecting rod (51) through the 315th revolute pair R315. The second end of the sixth U-shaped connecting rod (55-1) is connected to one side of the center of the rod body of the fifty-fourth connecting rod (54) through the 320th revolute pair R320; The seventeenth "Y-shaped" module includes a fifty-sixth connecting rod (56), a fifty-eighth connecting rod (58) and a fifty-seventh connecting rod (57) connected in sequence. The fifty-eighth connecting rod (58) is parallel to the fourth vertical rod (55-2). The first end of the fifty-sixth connecting rod (56) is connected to one side surface of the first end of the fifty-eighth connecting rod (58) through the 324th revolute pair R324. The second end of the fifty-sixth connecting rod (56) is connected to one side surface of the fourth vertical rod (55-2) through the 321st revolute pair R321. The first end of the fifty-seventh connecting rod (57) is connected to one side surface of the second end of the fifty-eighth connecting rod (58) through the 323rd revolute pair R323. The second end of the fifty-seventh connecting rod (57) is connected to one side surface of the fourth vertical rod (55-2) through the 322nd revolute pair R322. The fifty-sixth connecting rod (56) and the fifty-seventh connecting rod (57) are not coplanar, and the projections of the fifty-sixth connecting rod (56) and the fifty-seventh connecting rod (57) on a certain same plane form an X shape. The fifty-eighth connecting rod (58) is connected to the moving platform (62) through the 325th revolute pair R325; The eighteenth "plus" - shaped module includes a fifty - ninth connecting rod (59), a sixty - first connecting rod (61) and a sixtieth connecting rod (60) connected in sequence. The sixty - first connecting rod (61) is parallel to the fourth vertical rod (55 - 2). The first end of the fifty - ninth connecting rod (59) is connected to one side surface of the first end of the sixty - first connecting rod (61) through the 329th revolute pair R329. The second end of the fifty - ninth connecting rod (59) is connected to one side surface of the fourth vertical rod (55 - 2) through the 326th revolute pair R326. The first end of the sixtieth connecting rod (60) is connected to one side surface of the second end of the sixty - first connecting rod (61) through the 328th revolute pair R328. The second end of the sixtieth connecting rod (60) is connected to one side surface of the fourth vertical rod (55 - 2) through the 327th revolute pair R327. The fifty - ninth connecting rod (59) and the sixtieth connecting rod (60) are not coplanar, and the projections of the fifty - ninth connecting rod (59) and the sixtieth connecting rod (60) on a certain same plane form an X - shape. The sixty - first connecting rod (61) is connected to the moving platform (62) through the 330th revolute pair R330.

7. The isotropic fully decoupled heavy-load three-movement parallel robot according to claim 6, characterized in that: The 306th revolute pair R306 is connected with a driving motor.

8. The driving method of the isotropic fully decoupled heavy-load three-movement parallel robot according to claim 7, characterized in that: The driving motors arranged at the 106th revolute pair R106 and the driving motors arranged at the 101st revolute pair R101 have the same rotation angle. These two driving motors only control the movement of the moving platform parallel to the X - axis. The driving motors arranged at the 206th revolute pair R206 and the driving motors arranged at the 201st revolute pair R201 have the same rotation angle. These two driving motors only control the movement of the moving platform parallel to the Y - axis. The driving motors arranged at the 306th revolute pair R306 and the driving motors arranged at the 301st revolute pair R301 have the same rotation angle. These two driving motors only control the movement of the moving platform parallel to the Z - axis.

Images