Linkage type heavy-load six-degree-of-freedom parallel robot for high-precision docking task

The invention provides a linkage type heavy-load six-degree-of-freedom parallel robot for a high-precision docking task. The linkage type heavy-load six-degree-of-freedom parallel robot comprises a six-degree-of-freedom parallel robot body and a Z-direction sliding rail mechanism. The six-degree-of-freedom parallel robot body comprises a static platform, a movable platform and six parallel static pressure supporting servo cylinders and is mainly used for bearing X-direction and Y-direction displacement. Due to the linkage type design, the length of the linkage type heavy-load six-degree-of-freedom parallel robot in the Z direction is greatly reduced, additional bending moment and dynamic errors are reduced, and meanwhile tail end vibration caused by hydraulic flow pulsation is avoided. The Z-direction sliding rail mechanism adopts a single static pressure supporting servo cylinder as a driving element and mainly bears Z-direction displacement in a butt joint assembly task. According to the method, the tail en