Force position compliance control platform adopting hybrid offset hinge

Abstract

The invention relates to the field of robots, in particular to a force position compliance control platform adopting hybrid offset hinges, and the hybrid offset hinges comprise a plurality of first hybrid offset hinges and a plurality of second hybrid offset hinges. The first end of the driving supporting leg is connected to the movable platform through a first hybrid offset hinge, and the second end of the driving supporting leg is connected to the static platform through a second hybrid offset hinge. The hybrid offset hinge comprises an upper connecting seat, a lower connecting seat, an upper connecting shaft penetrating through the upper connecting seat and extending in the first direction and a lower connecting shaft penetrating through the lower connecting seat and extending in the second direction, the central axis of the upper connecting shaft and the central axis of the lower connecting shaft are not coplanar, and the central axis of the upper connecting shaft and the central axis of the lower connecting shaft are not coplanar in the third direction. And a cross structure formed by the central axis of the upper connecting shaft and the central axis of the lower connecting shaft is an asymmetric structure. The first direction, the second direction and the third direction are perpendicular to one another. Therefore, the working space is expanded, and meanwhile, the frequency of occurrence of singular poses is greatly reduced.

Description

Technical Field

[0001] The invention belongs to the field of robots, and in particular relates to a force-position compliant control platform using a hybrid offset hinge. Background Art

[0002] A parallel robot is a mechanical system that connects a moving platform and a static platform with multiple kinematic branches. It is widely used in industrial manufacturing, medical rehabilitation, aerospace and other fields. Compared with serial robots, parallel robots have gradually become one of the main development directions in the field of high-precision and high-rigidity robots due to their compact structure, high rigidity, high precision and strong load-bearing capacity.

[0003] However, there are also some unresolved technical problems in the practical application of existing parallel robots. First, parallel robots are usually subject to the geometric limitations of their own structures, resulting in a limited range of their workspace, especially insufficient range of motion in certain specific directions or postures, which limits their practical application in tasks that require a larger workspace. Secondly, there are some singular points in the workspace of the parallel robot. At these locations, the robot may lose rigidity or control ability, resulting in operational failure or reduced accuracy. The existence of singular points increases the complexity of robot control and needs to be avoided during trajectory planning, which increases the difficulty of designing the control system and puts forward higher requirements for real-time control and precise positioning. Therefore, how to effectively increase the workspace of the parallel robot, avoid singularities, and reduce the control difficulty of the parallel robot is an urgent problem to be solved by those skilled in the art. Summary of the invention

[0004] In view of this, the present invention aims to provide a force-position compliant control platform using a hybrid offset hinge, which not only expands the working space, but also greatly reduces the frequency of singular postures of the force-position compliant control platform during movement, thereby improving stability and safety during movement.

[0005] To achieve the above object, the technical solution created by the present invention is implemented as follows: A force-position compliant control platform using a hybrid offset hinge comprises a dynamic platform, a static platform, a plurality of driving legs and a plurality of hybrid offset hinges; the plurality of hybrid offset hinges comprises a plurality of first hybrid offset hinges and a plurality of second hybrid offset hinges; The first end of the driving leg is connected to the moving platform through a first hybrid offset hinge, and the second end of the driving leg is connected to the stationary platform through a second hybrid offset hinge; The hybrid offset hinge includes an upper connecting seat, a lower connecting seat, an upper connecting shaft extending along a first direction through the upper connecting seat, and a lower connecting shaft extending along a second direction through the lower connecting seat. The central axis of the upper connecting shaft and the central axis of the lower connecting shaft are not coplanar, and when viewed along a third direction, the cross structure formed by the central axis of the upper connecting shaft and the central axis of the lower connecting shaft is an asymmetric structure; wherein the first direction, the second direction and the third direction are perpendicular to each other.

[0006] Furthermore, the hybrid offset hinge further comprises a connecting member extending along a third direction, the connecting member being fixedly connected between the upper connecting shaft and the lower connecting shaft; the connecting member intersects with the upper connecting shaft and forms a cross shaft; In the first direction, there is a first set distance between the center of the cross shaft and the axis of the upper connecting seat; in the second direction, there is a second set distance between the center of the cross shaft and the axis of the lower connecting seat; in the third direction, there is a third set distance between the center of the cross shaft and the axis of the lower connecting shaft.

[0007] Further, in the first direction, the center of the cross axis of the first hybrid offset hinge is located on one side of the upper connecting seat of the first hybrid offset hinge, and the center of the cross axis of the second hybrid offset hinge is located on the other side of the upper connecting seat of the second hybrid offset hinge.

[0008] Further, the moving platform is provided with a plurality of top bosses arranged at intervals along the circumferential direction, the static platform is provided with a plurality of bottom bosses arranged at intervals along the circumferential direction, the top bosses are provided with a first inclined surface, and the bottom bosses are provided with a second inclined surface; The first end of the driving leg is connected to the first inclined surface through a first hybrid offset hinge, and the second end of the driving leg is connected to the second inclined surface through a second hybrid offset hinge, so that the connecting surface of the lower connecting seat of the first hybrid offset hinge and the connecting surface of the lower connecting seat of the second hybrid offset hinge installed on the same driving leg are parallel.

[0009] Further, the moving platform is provided with a plurality of top bosses arranged at intervals along the circumferential direction, and the stationary platform is provided with a plurality of bottom bosses arranged at intervals along the circumferential direction; The first ends of the driving leg and another driving leg adjacent to one side thereof are connected to the same top boss, and the second ends are respectively connected to two adjacent bottom bosses, and in the direction from the second end to the first end, the driving leg and another driving leg adjacent to one side thereof extend obliquely toward each other.

[0010] Further, the moving platform is provided with a plurality of top bosses arranged at intervals along the circumferential direction, and the stationary platform is provided with a plurality of bottom bosses arranged at intervals along the circumferential direction; The first ends of the driving leg and another driving leg adjacent to the other side are respectively connected to two adjacent top bosses, and the second ends are connected to the same bottom boss. In the direction from the second end to the first end, the driving leg and another driving leg adjacent to the other side extend obliquely away from each other.

[0011] Furthermore, the driving leg includes an upper leg, a lower leg and a transmission assembly, and the upper leg is movably connected to the lower leg through the transmission assembly so that the upper leg can be rotated relative to the lower leg and can be telescopically arranged.

[0012] Furthermore, the transmission assembly includes a lead screw and a lead screw nut, the lead screw nut is connected to the upper leg, the lead screw is connected to the lower leg, and the lead screw nut is cooperatively connected to the lead screw.

[0013] Furthermore, it also includes a controller, a motor and a force sensor; the motor is connected to the lead screw to realize the movement of the driving leg; the force sensor is arranged on the driving leg; The controller is used to control the rotation of the motor and determine the movement position of the driving leg according to the number of rotations collected by the motor counter; when the driving leg reaches the set position, the controller is used to determine the difference number of rotations of the motor according to the measured force collected by the force sensor and the calculated force corresponding to the driving leg reaching the set position, and control the motor to rotate the difference number of rotations.

[0014] Furthermore, the moving platform is in the shape of a circular ring, and a plurality of driving legs are arranged at intervals along the circumferential direction of the moving platform.

[0015] Compared with the prior art, the invention can achieve the following beneficial effects: The present invention creates a force-position compliant control platform of an embodiment, in which the first end of the driving leg of the force-position compliant control platform is connected to the moving platform through a first hybrid offset hinge, and the second end of the driving leg is connected to the static platform through a second hybrid offset hinge. The hybrid offset hinge can significantly expand the working space, significantly increase the rotation range and displacement range of the moving platform, and the hybrid offset hinge can greatly reduce the frequency of singular postures of the force-position compliant control platform during movement, thereby improving the stability and safety of the movement process, making it unnecessary to avoid singular positions through control, and reducing the control difficulty. At the same time, the overall structure of the force-position compliant control platform is compact and easy to modularize and expand, which reduces the manufacturing cost of the platform and improves its practicality and economy. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings: Figure 1 A three-dimensional diagram of the force-position compliance control platform described in the embodiment of the present invention; Figure 2 A front view of the force-position compliance control platform described in an embodiment of the present invention; Figure 3 A three-dimensional diagram of a first hybrid offset hinge of a force-position compliant control platform according to an embodiment of the present invention; Figure 4 A three-dimensional view of the second hybrid offset hinge of the force and position compliant control platform described in the embodiment of the present invention.

[0017] Description of reference numerals: 10. Force-position compliant control platform; 11. Dynamic platform; 12. Static platform; 13. Driving leg; 14. Hybrid offset hinge; 15. First hybrid offset hinge; 16. Second hybrid offset hinge; 17. Upper connecting seat; 18. Lower connecting seat; 19. Upper connecting shaft; 20. Lower connecting shaft; 21. Connecting piece; 22. Top boss; 23. Bottom boss; 24. First inclined surface; 25. Second inclined surface; 26. Upper half leg; 27. Lower half leg. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical scheme and advantages of the invention clearer, the invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the invention and do not constitute a limitation to the invention. Similar components in different embodiments use associated similar component numbers. In the following embodiments, many detailed descriptions are to enable the invention to be better understood. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other components, materials, and methods. In some cases, some operations related to the invention are not shown or described in the specification, in order to avoid the core part of the invention being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations according to the description in the specification and the general technical knowledge in the art.

[0019] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other to form various implementation methods. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a necessary sequence, unless otherwise specified that a certain sequence must be followed.

[0020] In the description of the invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention, unless otherwise specified, the meaning of "multiple" is two or more.

[0021] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0022] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0023] See also Figures 1 to 4 As shown, the embodiment created by the present invention provides a force-position compliant control platform using a hybrid offset hinge. The force-position compliant control platform 10 can be applied to industrial manufacturing, medical rehabilitation, aerospace and other application fields that require high precision, high flexibility and a large workspace. The force-position compliant control platform 10 includes a moving platform 11, a static platform 12, a plurality of driving legs 13 and a plurality of hybrid offset hinges 14. The plurality of hybrid offset hinges 14 include a plurality of first hybrid offset hinges 15 and a plurality of second hybrid offset hinges 16. In this embodiment, the number of driving legs 13 is six, and the number of hybrid offset hinges 14 is twelve. Among them, the number of first hybrid offset hinges 15 is six, and the number of second hybrid offset hinges 16 is six. In one embodiment, the shape of the moving platform 11 is annular, and the plurality of driving legs 13 are arranged at intervals along the circumferential direction of the moving platform 11.

[0024] The first end of the driving leg 13 is connected to the moving platform 11 through a first hybrid offset hinge 15, and the second end of the driving leg 13 is connected to the static platform 12 through a second hybrid offset hinge 16, so that the driving leg 13 can be driven to move to achieve six degrees of freedom of the moving platform 11.

[0025] The hybrid offset hinge 14 includes an upper connecting seat 17, a lower connecting seat 18, an upper connecting shaft 19 extending along a first direction X through the upper connecting seat 17, and a lower connecting shaft 20 extending along a second direction Y through the lower connecting seat 18. The upper connecting seat 17 can be rotatably arranged with the central axis of the upper connecting shaft 19 as an axis. The lower connecting seat 18 can be rotatably arranged with the central axis of the lower connecting shaft 20 as an axis. The central axis of the upper connecting shaft 19 and the central axis of the lower connecting shaft 20 are not coplanar, and when viewed along the third direction Z, the cross structure formed by the central axis of the upper connecting shaft 19 and the central axis of the lower connecting shaft 20 is an asymmetric structure. Among them, the first direction X, the second direction Y and the third direction Z are perpendicular to each other. In this embodiment, the upper connecting seat 17 of the first hybrid offset hinge 15 is connected to the moving platform 11, and the lower connecting seat 18 of the first hybrid offset hinge 15 is connected to the first end of the driving leg 13. The upper connection seat 17 of the second hybrid offset hinge 16 is connected to the second end of the driving leg 13, and the lower connection seat 18 of the second hybrid offset hinge 16 is connected to the static platform 12. The above connection method can be bolt connection.

[0026] The force and position compliant control platform 10 of the embodiment of the invention is a platform 10 in which the first end of the driving leg 13 of the force and position compliant control platform 10 is connected to the moving platform 11 through a first hybrid offset hinge 15, and the second end of the driving leg 13 is connected to the static platform 12 through a second hybrid offset hinge 16. The hybrid offset hinge 14 allows the moving platform 11 to obtain a larger range of motion and better rotation flexibility, thereby significantly expanding the range of the working space, especially the extreme working range in a specific direction and posture. The hybrid offset hinge 14 can greatly reduce the frequency of the force and position compliant control platform 10 appearing in singular positions during the movement, thereby improving the stability and safety during the movement, making it unnecessary to avoid singular positions through control, and reducing the control difficulty. At the same time, the overall structure of the force and position compliant control platform 10 is compact and easy to modularize and expand, thereby reducing the manufacturing cost of the platform and improving the practicality and economy.

[0027] Main references Figure 3 and Figure 4As shown, in one embodiment, the hybrid offset hinge 14 also includes a connector 21 extending along a third direction Z, and the connector 21 is fixedly connected between the upper connecting shaft 19 and the lower connecting shaft 20. The connection between the upper connecting shaft 19 and the lower connecting shaft 20 can be achieved by the connector 21. The connector 21 intersects with the upper connecting shaft 19 and forms a cross axis. In the first direction X, there is a first set distance Ex between the center O of the cross axis and the axis of the upper connecting seat 17. In the second direction Y, there is a second set distance Ey between the center O of the cross axis and the axis of the lower connecting seat 18. In the third direction Z, there is a third set distance Ez between the center O of the cross axis and the axis of the lower connecting shaft 20. Among them, the first set distance Ex, the second set distance Ey and the third set distance Ez of the hybrid offset hinge 14 can be adjusted according to the application scenario and the requirements of the target workspace, so that the workspace can be maximized and the probability of the occurrence of singular postures can be reduced.

[0028] In this embodiment, the first hybrid offset hinge 15 has a first set distance Ex of 15 mm between the center O of the cross axis and the axis of the upper connecting seat 17 in the first direction X, and a second set distance Ey of 15 mm between the center O of the cross axis and the axis of the lower connecting seat 18 in the second direction Y, and a third set distance Ez of 20 mm between the center O of the cross axis and the axis of the lower connecting shaft 20 in the third direction Z.

[0029] In the first direction X, the second hybrid offset hinge 16 has a first set distance Ex of 15 mm between the center O of the cross axis and the axis of the upper connecting seat 17. In the second direction Y, the second hybrid offset hinge 16 has a second set distance Ey of 15 mm between the center O of the cross axis and the axis of the lower connecting seat 18. In the third direction Z, the second hybrid offset hinge 16 has a third set distance Ez of 20 mm between the center O of the cross axis and the axis of the lower connecting shaft 20.

[0030] In one embodiment, in the first direction X, the center O of the cross axis of the first hybrid offset hinge 15 is located on one side of the upper connecting seat 17 of the first hybrid offset hinge 15, and the center O of the cross axis of the second hybrid offset hinge 16 is located on the other side of the upper connecting seat 17 of the second hybrid offset hinge 16.

[0031] Main references Figure 1 and Figure 2As shown, in one embodiment, the moving platform 11 is provided with a plurality of top bosses 22 arranged at intervals along the circumference, and the stationary platform 12 is provided with a plurality of bottom bosses 23 arranged at intervals along the circumference, and the top bosses 22 are provided with a first inclined surface 24, and the bottom bosses 23 are provided with a second inclined surface 25. In this embodiment, the moving platform 11 is provided with three top bosses 22 arranged at intervals along the circumference, and the stationary platform 12 is provided with three bottom bosses 23 arranged at intervals along the circumference. The first end of the driving leg 13 is connected to the first inclined surface 24 through the first hybrid offset hinge 15, and the second end of the driving leg 13 is connected to the second inclined surface 25 through the second hybrid offset hinge 16, so that the connection surface of the lower connection seat 18 of the first hybrid offset hinge 15 and the connection surface of the lower connection seat 18 of the second hybrid offset hinge 16 installed on the same driving leg 13 are parallel. Among them, the connection surface of the lower connection seat 18 of the first hybrid offset hinge 15 refers to the surface of the lower connection seat 18 of the first hybrid offset hinge 15 connected to the driving leg 13. The connection surface of the lower connection seat 18 of the second hybrid offset hinge 16 refers to the surface where the lower connection seat 18 of the second hybrid offset hinge 16 is connected to the static platform 12. In this way, the working space can be further increased.

[0032] In one embodiment, the first ends of the driving leg 13 and the other driving leg 13 adjacent to one side thereof are connected to the same top boss 22, and the second ends are respectively connected to two adjacent bottom bosses 23, and in the direction from the second end to the first end, the driving leg 13 and the other driving leg 13 adjacent to one side thereof extend in an inclined direction toward each other. In this way, the distance between the moving platform 11 and the static platform 12 can be reduced, making the overall design more compact. At the same time, the center of gravity of the force-position compliance control platform 10 is lowered, and the structure is more stable.

[0033] In one embodiment, the first ends of the driving leg 13 and the other adjacent driving leg 13 on the other side are respectively connected to two adjacent top bosses 22, and the second ends are connected to the same bottom boss 23, and in the direction from the second end to the first end, the driving leg 13 and the other adjacent driving leg 13 on the other side extend obliquely away from each other. Such a design can reduce the frequency of occurrence of singular postures.

[0034] In one embodiment, the driving leg 13 includes an upper leg 26, a lower leg 27 and a transmission assembly. The upper leg 26 is movably connected to the lower leg 27 through the transmission assembly, so that the upper leg 26 can be rotated relative to the lower leg 27 and can be retracted. Among them, the upper leg 26 can rotate relative to the lower leg 27, and can be retracted in the axial direction of the driving leg 13, so that the posture of the moving platform 11 can be flexibly adjusted. At the same time, the driving leg 13 has two degrees of freedom of rotation and retraction. The two degrees of freedom cooperate with each other, which improves the movement compliance under complex tasks and realizes force-position compliance control, which not only makes the control position of the moving platform 11 more accurate, but also can adapt to complex environments and changing task requirements, significantly reducing the control complexity.

[0035] In one embodiment, the transmission assembly includes a lead screw and a lead screw nut, the lead screw nut is connected to the upper leg 26, the lead screw is connected to the lower leg 27, and the lead screw nut is connected to the lead screw. In this way, the upper leg 26 of the driving leg 13 can be rotated relative to the lower leg 27 and can be retracted, which is simple to implement and highly reliable.

[0036] In one embodiment, the force-position compliance control platform 10 further includes a controller, a motor and a force sensor. The motor may be a servo motor, and each driving leg 13 may be provided with a motor and a force sensor. The motor is provided with a counter, and the counter is used to collect the number of rotations of the motor. The motor is connected to the lead screw, and is used to realize the movement of the driving leg 13. The motor can be used to drive the lead screw to rotate, so as to realize the rotation and extension of the upper leg 26, thereby realizing the movement of the driving leg 13. The force sensor is provided on the driving leg 13, and the force sensor is used to collect the force applied to the driving leg 13. In this way, the precise control of the movement position and output force of the driving leg 13 can be realized. The controller is used to control the rotation of the motor, and determine the movement position of the driving leg 13 according to the number of rotations collected by the counter of the motor. When the driving leg 13 reaches the set position, the controller is used to determine the difference number of rotations of the motor according to the measured force collected by the force sensor and the calculated force corresponding to the driving leg 13 reaching the set position, and control the motor to rotate the difference number of rotations. The difference number of rotations of the motor can be determined according to the difference between the measured force and the calculated force. In this way, accurate positioning of the moving platform 11 can be ensured while force feedback and adjustment can be achieved, thereby achieving the effects of accurate control and smooth operation.

[0037] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the disclosure of the present invention can be performed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and this document does not limit this.

[0038] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A force-position compliant control platform using a hybrid offset hinge, characterized in that: The invention comprises a moving platform, a stationary platform, a plurality of driving legs and a plurality of hybrid offset hinges; the plurality of hybrid offset hinges comprises a plurality of first hybrid offset hinges and a plurality of second hybrid offset hinges; The first end of the driving leg is connected to the moving platform through the first hybrid offset hinge, and the second end of the driving leg is connected to the stationary platform through the second hybrid offset hinge; The hybrid offset hinge includes an upper connecting seat, a lower connecting seat, an upper connecting shaft extending along a first direction through the upper connecting seat, and a lower connecting shaft extending along a second direction through the lower connecting seat, wherein the central axis of the upper connecting shaft and the central axis of the lower connecting shaft are not coplanar, and when viewed along a third direction, the intersection structure formed by the central axis of the upper connecting shaft and the central axis of the lower connecting shaft is an asymmetric structure; wherein the first direction, the second direction and the third direction are perpendicular to each other.

2. The force-position compliant control platform using a hybrid offset hinge according to claim 1, characterized in that: The hybrid offset hinge further comprises a connecting member extending along the third direction, wherein the connecting member is fixedly connected between the upper connecting shaft and the lower connecting shaft; the connecting member intersects with the upper connecting shaft and forms a cross shaft; In the first direction, there is a first set distance between the center of the cross shaft and the axis of the upper connecting seat; in the second direction, there is a second set distance between the center of the cross shaft and the axis of the lower connecting seat; in the third direction, there is a third set distance between the center of the cross shaft and the axis of the lower connecting shaft.

3. The force-position compliant control platform using a hybrid offset hinge according to claim 2, characterized in that: In the first direction, the center of the cross axis of the first hybrid offset hinge is located on one side of the upper connecting seat of the first hybrid offset hinge, and the center of the cross axis of the second hybrid offset hinge is located on the other side of the upper connecting seat of the second hybrid offset hinge.

4. The force-position compliant control platform using a hybrid offset hinge according to claim 1, characterized in that: The moving platform is provided with a plurality of top bosses arranged at intervals along the circumferential direction, the static platform is provided with a plurality of bottom bosses arranged at intervals along the circumferential direction, the top boss is provided with a first inclined surface, and the bottom boss is provided with a second inclined surface; The first end of the driving leg is connected to the first inclined surface through the first hybrid offset hinge, and the second end of the driving leg is connected to the second inclined surface through the second hybrid offset hinge, so that the connecting surface of the lower connecting seat of the first hybrid offset hinge and the connecting surface of the lower connecting seat of the second hybrid offset hinge installed on the same driving leg are parallel.

5. The force-position compliant control platform using a hybrid offset hinge according to claim 1, characterized in that: The moving platform is provided with a plurality of top bosses arranged at intervals along the circumferential direction, and the static platform is provided with a plurality of bottom bosses arranged at intervals along the circumferential direction; The first ends of the driving leg and the other driving leg adjacent to one side thereof are connected to the same top boss, and the second ends are respectively connected to two adjacent bottom bosses, and in the direction from the second end to the first end, the driving leg and the other driving leg adjacent to one side thereof extend obliquely in a direction approaching each other.

6. The force-position compliant control platform using a hybrid offset hinge according to claim 1, characterized in that: The moving platform is provided with a plurality of top bosses arranged at intervals along the circumferential direction, and the static platform is provided with a plurality of bottom bosses arranged at intervals along the circumferential direction; The first ends of the driving leg and another driving leg adjacent to the other side thereof are respectively connected to the two adjacent top bosses, and the second ends are connected to the same bottom boss. In the direction from the second end to the first end, the driving leg and another driving leg adjacent to one side thereof extend obliquely away from each other.

7. The force-position compliant control platform using a hybrid offset hinge according to claim 1, characterized in that: The driving leg comprises an upper leg, a lower leg and a transmission assembly, wherein the upper leg is movably connected to the lower leg via the transmission assembly so that the upper leg is rotatable and telescopic relative to the lower leg.

8. The force-position compliant control platform using a hybrid offset hinge according to claim 7, characterized in that: The transmission assembly includes a lead screw and a lead screw nut, wherein the lead screw nut is connected to the upper leg, the lead screw is connected to the lower leg, and the lead screw nut is cooperatively connected to the lead screw.

9. The force-position compliant control platform using a hybrid offset hinge according to claim 8, characterized in that: It also includes a controller, a motor and a force sensor; the motor is connected to the lead screw to realize the movement of the driving leg; the force sensor is arranged on the driving leg; The controller is used to control the rotation of the motor and determine the movement position of the driving leg according to the number of rotations collected by the counter of the motor; when the driving leg reaches the set position, the controller is used to determine the difference number of rotations of the motor according to the measured force collected by the force sensor and the calculated force corresponding to the driving leg reaching the set position, and control the motor to rotate the difference number of rotations.

10. The force-position compliant control platform using a hybrid offset hinge according to claim 1, characterized in that: The moving platform is in the shape of a circular ring, and the plurality of driving legs are arranged at intervals along the circumferential direction of the moving platform.

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