3-DOF series mechanism and parallel mechanism series-parallel type picking mechanical arm

The invention discloses a 3-DOF series mechanism and parallel mechanism series-parallel picking mechanical arm which comprises a supporting base, a series arm section and a parallel arm section, the supporting base is a basic supporting part of the mechanical arm and provides stability and support for the whole system, the series arm section is a main moving part of the mechanical arm, and the parallel arm section is a main moving part of the mechanical arm. The mechanical arm is responsible for achieving movement in the X direction, the Y direction and the phi direction, so that the mechanical arm can flexibly move and be positioned to a target position. According to the mechanical arm, the parallel arm section provides additional degree of freedom, and a 1T2R (1Translation, 2Rotation) motion mode is adopted, so that the mechanical arm can more flexibly adapt to picked objects with different shapes and heights in the picking process. By adopting series-parallel design of a series mechanism and a parallel mec