Tactile simulation operation arm of robot with six degrees of freedom based on mixed structure

The invention discloses a tactile simulation operation arm of a robot with six degrees of freedom based on a mixed structure, relates to the technical field of mechanical design and mathematical modeling. The mixed structure consists of a parallel structure and a series structure, the parallel structure uses a spherical three-degree-of-freedom parallel structure design, the structure is composed of a base platform and a moving platform, the base platform is fixed, the base platform is connected with the moving platform through three identical mechanical transmission joint chains, and each mechanical transmission joint chain consists of two joint chains and three rotating joints, and comprises an active joint chain and a slave joint chain, the central 'o' of the rotation of the parallel structure is set on the moving platform along the central shaft direction, with a fixed distance; The series structure consists of three joints and three joint chains. According to the invention, the mixed mechanical structure