A four-degree-of-freedom 3-PRPaR & RUPUR spatial hybrid manipulator and working method

Abstract

The present application relates to a novel four-degree-of-freedom 3-PRPaR&RUPUR space hybrid manipulator and working method, belonging to the technical field of space kinematic pair rigid-flexible hybrid mechanism, the device comprises a fixed platform, a movable platform, a PRPaR driving branch and a RUPUR series chain; the PRPaR driving branch and the RUPUR series chain are connected with the fixed platform and the movable platform at both ends, and the movable platform is realized to move along the three-dimensional direction and rotate around the vertical direction under the action of the PRPaR driving branch and the RUPUR series chain, so that the movable platform has four degrees of freedom; meanwhile, the three PRPaR driving branches and the RUPUR series chain make the mechanism have greater bearing capacity, and under the influence of the kinematic interference among the four mechanisms and the rotation pair in the mechanism, the mechanism can effectively avoid singular positions, increase the working space of the whole mechanism, and improve the overall stiffness and flexibility of the mechanism.

Description

TECHNICAL FIELD

[0001] The application relates to a four-degree-of-freedom 3-PRPaR&RUPUR spatial hybrid manipulator and a working method, and belongs to the technical field of spatial kinematic pair rigid-flexible hybrid mechanisms. BACKGROUND

[0002] The manipulator is a mechanical device with part of the functions of a human hand, and can imitate a human to quickly and accurately complete operations such as grabbing, carrying and placing articles. With the continuous improvement of the degree of industrial automation, the manipulator can work in a pose that is difficult for a human to achieve, and has the advantages of compact structure, small floor area, high speed and high flexibility, strong carrying capacity, large rigidity and the like, and is widely applied in the industrial field and becomes an important automated device in the industrial field.

[0003] With the rapid development of the industrial level, the requirement for the working precision of the manipulator is higher and higher, and in most working environments, the manipulator as a whole is required to carry a certain mass of heavy objects to move in a large range in a three-dimensional space and frequently change directions. Whether the manipulator has high degrees of freedom, a large working space and high rigidity has a great influence on the field of the manipulator. The serial manipulator has the advantages of a large working space, high flexibility, simple control and low cost, but has the disadvantages of poor rigidity and weak load capacity. The parallel manipulator has the advantages of high rigidity, high precision, high dynamic performance and strong load capacity, but has the disadvantages of a small working space, complex control and singular positions. Therefore, combining the parallel mechanism and the serial mechanism to increase the degrees of freedom of the mechanism makes the mechanism have four degrees of freedom, the parallel module combines the characteristics of the serial module to increase the working space of the mechanism, singular positions can be avoided, and the advantages of high precision, high rigidity and strong load capacity of the parallel module are retained. Therefore, it is very necessary to propose the four-degree-of-freedom 3-PRPaR&RUPUR spatial hybrid manipulator. SUMMARY

[0004] In order to overcome the deficiencies in the above background art, the application provides a four-degree-of-freedom 3-PRPaR&RUPUR spatial hybrid manipulator. The hybrid manipulator can have the advantages of the parallel module and the serial module, increase the working space of the whole mechanism, avoid singular positions, and improve the overall precision and flexibility of the mechanism.

[0005] The technical scheme of the application is as follows:

[0006] A four-degree-of-freedom 3-PRPaR&RUPUR spatial hybrid manipulator comprises a fixed platform, a movable platform, a PRPaR driving branch and a RUPUR serial branch chain. The PRPaR driving branch and the RUPUR serial branch chain are connected to the fixed platform and the movable platform at two ends.

[0007] The fixed platform comprises a linear module and an upper motor support plate; the linear module comprises two horizontal linear modules and a vertical linear module, the two horizontal linear modules are arranged in parallel in the same plane, and the vertical linear module is arranged vertically in the vertical plane of the symmetry line of the two horizontal linear modules; the upper motor support plate is located between the two horizontal linear modules and connects the two horizontal linear modules;

[0008] The linear module comprises a precision linear ball screw sliding table module and a servo motor as a drive, the linear ball screw sliding table module comprises a driving slider and a linear guide rail, the driving slider moves linearly on the linear guide rail, one end of the PRPaR driving branch is connected to the driving slider of the linear module, the other end of the PRPaR driving branch is connected to the movable platform, and the movement of the driving slider drives the PRPaR driving branch to move in three dimensions; a servo motor is arranged at the middle position of the upper motor support plate, the servo motor is connected to one end of the RUPUR series chain, the other end of the RUPUR series chain is connected to the movable platform, and the servo motor drives the RUPUR series chain to move in three dimensions and rotate in the vertical direction when the servo motor is started.

[0009] Preferably, the PRPaR driving branch has three, which are a first PRPaR driving branch connected to the horizontal linear module, a second PRPaR driving branch, and a third PRPaR driving branch connected to the vertical linear module, the three PRPaR driving branches have the same structure but are not uniformly distributed.

[0010] Further preferably, the PRPaR driving branch comprises a second rotary pair, a T-shaped swing rod, a parallelogram hinge, and a first rotary pair; the second rotary pair comprises a driving slider shaft hole, a T-shaped swing rod upper end shaft hole in rotational cooperation with the driving slider shaft hole, and a pin connecting the two; the T-shaped swing rod is a T-shaped rod, one end of which serves as one side of the parallelogram hinge, and the other end is connected to the driving slider through the second rotary pair; the four sides of the parallelogram hinge are a T-shaped swing rod lower end, two identical Pa chain swing rods, and a shaft pin, the four sides are connected through the pin to form a Pa chain rotary pair, and the two connected sides can rotate; the first rotary pair comprises a shaft pin as a rotary pair shaft and a movable platform shaft hole as a rotary pair bearing.

[0011] Further preferably, the lengths of the T-shaped swing rods in the first and second PRPaR driving branches connected to the parallel linear module are the same, but different from the length of the T-shaped swing rod in the third PRPaR driving branch connected to the vertical linear module, and the lengths of the Pa chain swing rods in the three driving branches have the same characteristics as the T-shaped swing rods; the lengths of the Pa chain swing rods of the parallelogram hinges in the first and second PRPaR driving branches are the same, but different from the length of the Pa chain swing rod of the parallelogram hinge in the third PRPaR driving branch.

[0012] Further preferably, the axes of the first and second rotary pairs in the PRPaR driving branch are parallel to each other and perpendicular to the axes of the pins connecting the two sides of the parallelogram hinge, so that the swing rod and the parallelogram hinge can swing in different directions to realize three-dimensional rotation of the moving platform.

[0013] Further preferably, the shaft pins connected to the moving platform in the first and second PRPaR driving branches are parallel to each other in the same plane, and both are perpendicular to the shaft pin connected to the moving platform in the third PRPaR driving branch.

[0014] Preferably, the RUPUR series branch chain comprises a first hooke joint, a RUPUR moving pair, and a second hooke joint connected in sequence between the servo motor and the moving platform; the RUPUR series branch chain is located at the central axis of the three PRPaR driving branches, and can realize movement along three-dimensional directions and rotation around the vertical direction; the RUPUR moving pair comprises two series-connected telescopic rods; one end of the first hooke joint is connected to the output shaft of the servo motor of the upper motor support plate, the other end of the first hooke joint is connected to the upper telescopic rod, a cross shaft is arranged in the middle of the other end of the first hooke joint and the upper telescopic rod, and the cross shaft forms a rotary pair with the end hole of the first hooke joint and the end hole of the upper telescopic rod, respectively, and the axis of the formed rotary pair is perpendicular to the axis of the RUPUR moving pair; the lower telescopic rod is connected to one end of the second hooke joint, the other end of the second hooke joint is connected to the moving platform, and a cross shaft is arranged in the middle of one end of the lower telescopic rod and the second hooke joint, and the cross shaft forms a rotary pair with the end hole of the second hooke joint and the end hole of the upper telescopic rod, respectively, and the axis of the formed rotary pair is perpendicular to the axis of the RUPUR moving pair.

[0015] Further preferably, the servo motor is located on the upper surface of the upper motor support plate, the upper motor support plate is provided with a through hole, the output shaft of the servo motor passes through the through hole and is connected to one end of the first hooke joint, the hole of the upper motor support plate acts as a bearing, and the shaft end of the first hooke joint acts as a shaft to form a rotary pair, and the axis of the formed rotary pair is perpendicular to the axis of the RUPUR moving pair.

[0016] Further preferably, the moving platform is provided with a hole in the center, the hole in the center of the moving platform serving as a bearing, and the second hooke joint shaft end serving as a shaft, so as to form a rotating pair, and the axis of the rotating pair is perpendicular to the axis of the RUPUR moving pair.

[0017] Further preferably, the diameter of the upper telescopic rod is greater than that of the lower telescopic rod, the upper telescopic rod is a hollow rod, and the lower telescopic rod is a solid rod.

[0018] A working method of a four-degree-of-freedom 3-PRPaR&RUPUR spatial hybrid manipulator, comprising the following steps:

[0019] In use, when only the servo motor in one horizontal linear module is used and only the driving slider in the linear module is close to the shaft coupling, the servo motor drives the driving slider to slide to the other side, the T-shaped swing rod in the first PRPaR driving branch connected to the driving slider moves, under the action of the Pa chain rotating pair, the two Pa chain swing rods in the parallelogram hinge incline to the same side, before the first PRPaR driving branch is completely symmetrical to the second PRPaR driving branch, the moving platform is driven to be lowered in height, the lower telescopic rod slides downward in the upper telescopic rod, and the driving slider and the Pa chain swing rod in the second PRPaR driving branch move in opposite directions;

[0020] After the first PRPaR driving branch is symmetrical to the second PRPaR driving branch, the moving platform is raised in height, the lower telescopic rod slides upward, and the two driving branches move in the same direction; during this time, the third driving branch moves in the same direction as the moving platform;

[0021] In use, when only the servo motor in the vertical linear module is used, the servo motor drives the driving slider to reciprocatingly move linearly in the linear guide rail, the third PRPaR driving branch swings up and down, and within a certain range, the moving platform is driven to only translate in a two-dimensional plane, and the first and second PRPaR driving branches move in the same direction; when the range is exceeded, the moving platform will not only translate in the two-dimensional plane, but also translate up and down, and the first and second PRPaR driving branches move in opposite directions;

[0022] In use, when the servo motors in the three linear modules are not used, only the servo motor on the upper motor support plate is working, and the servo motor on the upper motor support plate can drive the RUPUR series branch chain to rotate in a three-dimensional space, but due to the mutual interference between the components, the range of rotation is limited;

[0023] In use, when the servo motors in the three linear modules are used at the same time, the moving directions of the first, second and third PRPaR driving branches are related to the directions of the motors, and at this time, the moving platform will not only translate in a two-dimensional plane or rotate in a three-dimensional space, but will simultaneously rotate and translate in a three-dimensional space.

[0024] The beneficial effects of the present application are that:

[0025] In use, the motor provided in the linear module drives the sliding block to reciprocate linearly in the guide rail, and then the PRPaR driving branch connected with the sliding block and the RUPUR series branch provided at the middle axis of the 3-PRPaR parallel mechanism are used to realize the translation of the moving platform in three-dimensional directions and the rotation of the moving platform around the vertical direction, so that the moving platform has four degrees of freedom; meanwhile, the three PRPaR driving branches and the RUPUR series branch make the mechanism have greater carrying capacity, and under the influence of the kinematic interference among the four mechanisms and the rotation pair in the mechanism, the mechanism can effectively avoid singular positions, increase the working space of the entire mechanism, and improve the overall stiffness and flexibility of the mechanism. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 A schematic diagram of the overall structure of the four-degree-of-freedom 3-PRPaR&RUPUR spatial hybrid manipulator is provided.

[0027] Figure 2 A schematic diagram of the PRPaR driving branch in the four-degree-of-freedom 3-PRPaR&RUPUR spatial hybrid manipulator is provided.

[0028] Figure 3 A schematic diagram of the RUPUR series branch in the four-degree-of-freedom 3-PRPaR&RUPUR spatial hybrid manipulator is provided.

[0029] 1, moving platform, 2, shaft pin, 3, first rotation pair, 4, Pa chain swing rod, 5, Pa chain rotation pair, 6, T-shaped swing rod, 7, second rotation pair, 8, driving sliding block, 9, linear module, 10, linear guide rail, 11, shaft coupling, 12, servo motor, 13, upper motor support plate, 14, first hooke joint, 15, cross shaft, 16, upper telescopic rod, 17, lower telescopic rod, 18, second hooke joint;

[0030] 401, Pa chain swing rod of the first PRPaR driving branch, 402, Pa chain swing rod of the second PRPaR driving branch, 403, Pa chain swing rod of the third PRPaR driving branch;

[0031] 601, T-shaped swing rod of the first PRPaR driving branch, 602, T-shaped swing rod of the second PRPaR driving branch, 603, T-shaped swing rod of the third PRPaR driving branch;

[0032] 801, driving sliding block of the first horizontal linear module, 802, driving sliding block of the second horizontal linear module, 803, driving sliding block of the third horizontal linear module;

[0033] 901, first horizontal linear module, 902, second horizontal linear module, 903, third vertical linear module;

[0034] 121, servo motor of first horizontal linear module, 122, servo motor of second horizontal linear module, 123, servo motor of third vertical linear module, 124, servo motor of upper motor support plate. DETAILED DESCRIPTION

[0035] The specific embodiments of the present application are further described below with reference to the accompanying drawings. Those skilled in the art can understand other advantages and effects of the present application by reading the present specification. It should be noted that the embodiments are only part of the embodiments of the present application, and the protection scope of the present application is not limited to the following embodiments.

[0036] The directions or ordinal numbers such as "upper", "lower", "left", "right", "front", "back", "first", "second", "third" appearing in the specification and claims are used for convenience of description only, and are not intended to limit the protection scope of the present application; the adjustment or change of the relative relationship without changing the technical essence shall belong to the implementable scope of the present application.

[0037] Embodiment 1

[0038] A four-degree-of-freedom 3-PRPaR&RUPUR spatial hybrid manipulator, as shown in the figure, comprises a fixed platform, a moving platform (1), a PRPaR driving branch, and a RUPUR serial chain; the PRPaR driving branch and the RUPUR serial chain are connected to the fixed platform and the moving platform at both ends. Figures 1-3 The fixed platform comprises a linear module (9) and an upper motor support plate (13); the linear module comprises two horizontal linear modules and one vertical linear module, the two horizontal linear modules are arranged in parallel in the same plane, and the vertical linear module is placed vertically in the vertical plane of the symmetry line of the two horizontal linear modules; the upper motor support plate is located between and connected to the two horizontal linear modules. The upper ends of the three linear modules are connected to the rack (omitted in the figure).

[0039] The linear module comprises a precision linear ball screw sliding table module and a servo motor as a drive; the linear ball screw sliding table module comprises a driving slider (8) and a linear guide rail (10), the driving slider moves linearly on the linear guide rail, one end of the PRPaR driving branch is connected to the driving slider of the linear module, and the other end of the PRPaR driving branch is connected to the moving platform, the movement of the driving slider drives the PRPaR driving branch to move in three dimensions; the servo motor (12) in the linear module and the linear guide rail (10) transmit torque and motion through a shaft coupling (11).

[0040] The linear module comprises a precision linear ball screw sliding table module and a servo motor as a drive; the linear ball screw sliding table module comprises a driving slider (8) and a linear guide rail (10), the driving slider moves linearly on the linear guide rail, one end of the PRPaR driving branch is connected to the driving slider of the linear module, and the other end of the PRPaR driving branch is connected to the moving platform, the movement of the driving slider drives the PRPaR driving branch to move in three dimensions; the servo motor (12) in the linear module and the linear guide rail (10) transmit torque and motion through a shaft coupling (11).

[0041] A servo motor is arranged in the middle of the upper motor support plate (13), the output end of the servo motor is connected with one end of the RUPUR series connection branch, the other end of the RUPUR series connection branch is connected with the moving platform, and the servo motor drives the RUPUR series connection branch to move in three-dimensional directions and rotate in the vertical direction when the servo motor is started.

[0042] The three PRPaR driving branches are divided into a first PRPaR driving branch connected with the horizontal linear module, a second PRPaR driving branch, and a third PRPaR driving branch connected with the vertical linear module, and the three PRPaR driving branches are of the same structure but are not uniformly distributed. The corresponding linear modules are respectively named as a first horizontal linear module (901), a second horizontal linear module (902), and a third vertical linear module (903).

[0043] The PRPaR driving branch comprises a second rotating pair (7), a T-shaped swing rod (6), a parallelogram hinge, and a first rotating pair (3). The second rotating pair comprises a driving slider shaft hole, a T-shaped swing rod upper end shaft hole in rotational cooperation with the driving slider shaft hole, and a pin connecting the two. The T-shaped swing rod (6) is a T-shaped rod, one end of which serves as one side of the parallelogram hinge, and the other end is connected with the driving slider through the second rotating pair. Four sides of the parallelogram hinge are a T-shaped swing rod lower end, two identical Pa chain swing rods (4), and a shaft pin (2), and the four sides are connected through the pin to form four Pa chain rotating pairs (5). The two connected sides can rotate, and the Pa chain swing rod is a straight rod. The first rotating pair comprises a shaft pin (2) as a rotating pair shaft and a moving platform (1) shaft hole as a rotating pair bearing.

[0044] In the three PRPaR driving branches, the lengths of the T-shaped swing rods in the first PRPaR driving branch and the second PRPaR driving branch connected with the parallel linear modules are the same, but the length of the T-shaped swing rod in the third PRPaR driving branch connected with the vertical linear module is different. Meanwhile, the lengths of the Pa chain swing rods in the three driving branches have the same characteristics as the lengths of the T-shaped swing rods. The lengths of the Pa chain swing rods in the parallelogram hinges in the first PRPaR driving branch and the second PRPaR driving branch are the same, but the length of the Pa chain swing rod in the parallelogram hinge in the third PRPaR driving branch is different. The lengths of the Pa chain swing rods and the T-shaped swing rods in the first and second PRPaR driving branches are slightly longer.

[0045] The axes of the first rotating pair and the second rotating pair in the PRPaR driving branch are parallel to each other, and are perpendicular to the axes of the pins connecting the two sides in the parallelogram hinge (i.e. the axes of the Pa chain rotating pairs), so that the swing rods and the parallelogram hinge can swing in different directions to realize the three-dimensional rotation of the moving platform.

[0046] The shaft pins connected with the moving platform in the first PRPaR driving branch and the second PRPaR driving branch are parallel to each other in the same plane, and both are perpendicular to the shaft pin of the third PRPaR driving branch connected with the moving platform. Figure 1 The third PRPaR driving branch is different from the first and second PRPaR driving branches in arrangement, the shaft pin (603) of the third PRPaR driving branch is perpendicular to the shaft pins of the first and second PRPaR driving branches, and when the mechanism operates, the swing rods (601-602) of the first and second PRPaR driving branches swing up and down, the Pa chain swing rods (401-402) swing left and right, the swing rod (603) of the third PRPaR driving branch swings left and right, and the Pa chain swing rod (403) swings up and down.

[0047] The RUPUR series branch chain comprises a first hooke joint (14), a RUPUR moving pair and a second hooke joint (18) connected in sequence between a servo motor and a moving platform; the RUPUR series branch chain is located at the central axis of the three PRPaR driving branches, and can realize movement along three-dimensional directions and rotation around the vertical direction; the RUPUR moving pair comprises two series-connected telescopic rods; one end of the first hooke joint (14) is connected with the output shaft of the servo motor (124) of the upper motor support plate, the other end of the first hooke joint (14) is connected with the upper telescopic rod (16), a cross shaft (15) is arranged in the middle of the other end of the first hooke joint and one end of the upper telescopic rod to form a universal joint, the cross shaft is respectively connected with the end hole of the first hooke joint and the end hole of the upper telescopic rod to form a rotary pair, the long axis of the cross shaft is connected with the upper telescopic rod to form a rotary pair, and the short axis is connected with the first hooke joint to form a rotary pair, so that the telescopic rod can swing in four directions of forward, backward, left and right, the rotary pair axis is perpendicular to the RUPUR moving pair axis; the lower telescopic rod (17) is connected with one end of the second hooke joint (18), the other end of the second hooke joint (18) is connected with the moving platform (1), and a cross shaft is arranged in the middle of one end of the lower telescopic rod and one end of the second hooke joint to form the same universal joint, so that the moving platform can also move in four directions of forward, backward, left and right, the cross shaft is respectively connected with the end hole of the second hooke joint and the end hole of the upper telescopic rod to form a rotary pair, and the rotary pair axis is perpendicular to the RUPUR moving pair axis.

[0048] The servo motor (124) is located on the upper surface of the upper motor support plate, the upper motor support plate is provided with a through hole, the output shaft of the servo motor (124) passes through the through hole and is connected with one end of the first hooke joint (14), the hole of the upper motor support plate acts as a bearing, the shaft end of the first hooke joint acts as a shaft, a rotary pair is formed, and the rotary pair axis is perpendicular to the RUPUR moving pair axis.

[0049] The moving platform (1) is provided with a hole in the center, the center hole of the moving platform is used as a bearing, and the shaft end of the second hook joint (18) is used as a shaft to form a rotating pair, and the axis of the rotating pair is perpendicular to the axis of the RUPUR moving pair.

[0050] Embodiment 2

[0051] A four-degree-of-freedom 3-PRPaR&RUPUR spatial hybrid manipulator, which is structurally the same as that described in Embodiment 1, except that the diameter of the upper telescopic rod is greater than that of the lower telescopic rod, the upper telescopic rod is a hollow rod, and the lower telescopic rod is a solid rod, and the two are connected in series; the RUPUR moving pair comprises the lower telescopic rod as a moving pair guide rail and the upper telescopic rod in sliding fit with the lower telescopic rod.

[0052] Embodiment 3

[0053] A working method of the four-degree-of-freedom 3-PRPaR&RUPUR spatial hybrid manipulator described in Embodiment 2, comprising the following steps:

[0054] In use, when only the servo motor (121) in the horizontal linear module (901) is used and only the driving slider (801) in the linear module is close to the shaft coupling, the servo motor (121) drives the driving slider (801) to slide to the other side, and the T-shaped swing rod (601) in the first PRPaR driving branch connected thereto moves accordingly, and under the action of the Pa chain rotating pair (5), the two Pa chain swing rods (401) in the parallelogram hinge tilt to the same side, before the first PRPaR driving branch and the second PRPaR driving branch are completely symmetrical, the moving platform (1) is driven to lower in height, the lower telescopic rod (17) slides downward in the upper telescopic rod (16), and the driving slider and the Pa chain swing rod (402) in the second PRPaR driving branch move in opposite directions.

[0055] After the first PRPaR driving branch and the second PRPaR driving branch are symmetrical, the moving platform is raised in height, the lower telescopic rod slides upward, and the two driving branches move in the same direction; during this time, the third driving branch moves in the same direction as the moving platform.

[0056] In use, when only the servo motor (123) in the third vertical linear module (903) is used, the servo motor (123) drives the driving slider (803) to reciprocate linearly in the linear guide rail, and the third PRPaR driving branch swings up and down accordingly, and drives the moving platform (1) to translate only in a two-dimensional plane within a certain range, and the first and second PRPaR driving branches move in the same direction; when the range is exceeded, the moving platform will not only translate in a two-dimensional plane, but also will translate up and down, and at this time, the first and second PRPaR driving branches move in opposite directions.

[0057] In use, when the servo motors (121-123) in the three linear modules (901-903) are not used, only the servo motor (124) on the upper motor support plate (13) is in work, the servo motor (124) on the upper motor support plate drives the RUPUR series support chain to rotate in the three-dimensional space, but the rotating range is limited due to the mutual interference between the components.

[0058] In use, when the servo motors (121-123) in the three linear modules (901-903) are used simultaneously, the movement direction of the first, second and third PRPaR driving branches is related to the motor direction, at this time the moving platform (1) will not only move in the two-dimensional plane or rotate in the three-dimensional space, but will move and rotate in the three-dimensional space simultaneously.

[0059] As can be seen from the embodiments, the four use modes show that the present application not only has the advantages of the parallel mechanism, but also combines the advantages of the series mechanism, so that the working space of the mechanism is increased and the singular position is avoided.

[0060] Although the present application has been described in detail through general description and specific embodiments, those skilled in the art can make some modifications or improvements on the basis of the present application, which are obvious. Therefore, any modification or improvement made without departing from the spirit of the present application shall fall within the scope of the present application.

Claims

1. A 3-PRPaR&RUPUR spatial hybrid manipulator with four degrees of freedom, characterized in that, The PRPaR driving branch and the RUPUR series branch are connected with the fixed platform and the moving platform at both ends. The fixed platform comprises a linear module and an upper motor support plate. The linear module comprises two horizontal linear modules and a vertical linear module.

2. The 4-DOF 3-PRPaR&RUPUR spatial hybrid manipulator according to claim 1, characterized in that, The linear module comprises a linear ball screw sliding table module and a servo motor.

3. The 4-DOF 3-PRPaR&RUPUR spatial hybrid manipulator according to claim 2, wherein, The PRPaR driving branch comprises a second rotating pair, a T-shaped swing rod, a parallelogram hinge, and a first rotating pair.

4. The 4-DOF 3-PRPaR&RUPUR spatial hybrid manipulator according to claim 3, wherein, The second rotating pair comprises a driving slider shaft hole, a T-shaped swing rod upper end shaft hole in rotational cooperation, and a pin connecting the two.

5. The 4-DOF 3-PRPaR&RUPUR spatial hybrid manipulator according to claim 3, wherein, The T-shaped swing rod is a T-shaped rod, one end of which serves as one side of the parallelogram hinge, and the other end is connected with the driving slider through the second rotating pair.

6. The 4-DOF 3-PRPaR & RUPUR spatial hybrid manipulator according to claim 3, wherein, The parallelogram hinge comprises a T-shaped swing rod lower end, two identical Pa chain swing rods, and a shaft pin. The first rotating pair comprises a shaft pin as a rotating pair shaft and a moving platform shaft hole as a rotating pair bearing. The lengths of the T-shaped swing rods in the first PRPaR driving branch and the second PRPaR driving branch are the same, but different from that in the third PRPaR driving branch. The lengths of the Pa chain swing rods in the first PRPaR driving branch and the second PRPaR driving branch are the same, but different from that in the third PRPaR driving branch. The axes of the first rotating pair and the second rotating pair in the PRPaR driving branch are parallel to each other and perpendicular to the axes of the pins connecting the two sides of the parallelogram hinge. The shaft pins in the first PRPaR driving branch and the second PRPaR driving branch that are connected with the moving platform are parallel to each other in the same plane, and both are perpendicular to the shaft pin in the third PRPaR driving branch that is connected with the moving platform.

7. The 4-DOF 3-PRPaR & RUPUR spatial hybrid manipulator according to claim 1, wherein, The RUPUR series chain includes a first hooke joint, a RUPUR moving pair and a second hooke joint connected in sequence between the servo motor and the moving platform; the RUPUR series chain is located at the middle axis of the three PRPaR driving branches; the RUPUR moving pair includes two series-connected telescopic rods; one end of the first hooke joint is connected with the servo motor output shaft of the upper motor support plate, the other end of the first hooke joint is connected with the upper telescopic rod, a cross shaft is arranged between the other end of the first hooke joint and the upper telescopic rod, and the cross shaft is connected with the end hole of the first hooke joint and the end hole of the upper telescopic rod to form a rotating pair, and the axis of the rotating pair is perpendicular to the axis of the RUPUR moving pair; The lower telescopic rod is connected with one end of the second hooke joint, the other end of the second hooke joint is connected with the moving platform, a cross shaft is arranged between one end of the lower telescopic rod and the second hooke joint, and the cross shaft is connected with the end hole of the second hooke joint and the end hole of the upper telescopic rod to form a rotating pair, and the axis of the rotating pair is perpendicular to the axis of the RUPUR moving pair; The diameter of the upper telescopic rod is greater than that of the lower telescopic rod, the upper telescopic rod is a hollow rod, and the lower telescopic rod is a solid rod.

8. The 4-DOF 3-PRPaR & RUPUR spatial hybrid manipulator according to claim 7, characterized in that, The servo motor is located on the upper surface of the upper motor support plate, the upper motor support plate is provided with a through hole, the servo motor output shaft passes through the through hole and is connected with one end of the first hooke joint, the hole of the upper motor support plate acts as a bearing, the shaft end of the first hooke joint acts as a shaft, a rotating pair is formed, and the axis of the rotating pair is perpendicular to the axis of the RUPUR moving pair.

9. The 4-DOF 3-PRPaR & RUPUR spatial hybrid manipulator according to claim 7, wherein, The moving platform is provided with a hole in the center, the central hole of the moving platform acts as a bearing, the shaft end of the second hooke joint acts as a shaft, a rotating pair is formed, and the axis of the rotating pair is perpendicular to the axis of the RUPUR moving pair.

10. A working method of a four-degree-of-freedom 3-PRPaR&RUPUR spatial hybrid manipulator, characterized in that, The structure of the manipulator is as claimed in claim 1, and the method comprises the following steps: In use, when only the servo motor in a horizontal linear module is used and only the driving slider in the linear module is close to the shaft coupling, the servo motor drives the driving slider to slide to the other side, the T-shaped swing rod in the first PRPaR driving branch connected with the driving slider moves, under the action of the Pa chain rotating pair, the two Pa chain swing rods in the parallelogram hinge incline to the same side, before the first PRPaR driving branch is completely symmetrical with the second PRPaR driving branch, the moving platform is driven to be lowered in height, the lower telescopic rod slides downward in the upper telescopic rod, and the driving slider and the Pa chain swing rod in the second PRPaR driving branch move in opposite directions; After the first PRPaR driving branch is symmetrical with the second PRPaR driving branch, the moving platform is raised in height, the lower telescopic rod slides upward, and the two driving branches move in the same direction; during this time, the third driving branch moves in the same direction as the moving platform; In use, when only the servo motor in the vertical linear module is used, the servo motor drives the driving slider to move in the linear guide rail, the third PRPaR driving branch swings up and down, the moving platform is driven to move in a two-dimensional plane within a certain range, and the first and second PRPaR driving branches move in the same direction; when the range is exceeded, the moving platform will not only move in the two-dimensional plane, but also move up and down, and the first and second PRPaR driving branches move in opposite directions; In use, when the servo motors in the three linear modules are not used, only the servo motor on the upper motor support plate is working, and the servo motor on the upper motor support plate drives the RUPUR series support chain to rotate in the three-dimensional space. In use, when the servo motors in the three linear modules are used simultaneously, the movement direction of the first, second and third PRPaR driving branches is related to the motor direction, and at this time the moving platform will not only translate in a two-dimensional plane or rotate in a three-dimensional space, but will simultaneously translate and rotate in the three-dimensional space.

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