Seven-degree-of-freedom series-parallel series-parallel micro-operation mechanism for attitude and position motion decoupling

The invention relates to a seven-degree-of-freedom series-parallel micro-operation mechanism for attitude and position motion decoupling. The series-parallel micro-operation mechanism comprises a base, a first series connection part, a PRRRP parallel connection part and a second series connection part used for installing an end effector. The first series connection part has an x translation freedom degree and a y translation freedom degree, and the first series connection part is fixedly connected to the base and rotationally connected to one end of the PRRRP parallel connection part; and the second series connection part is rotationally connected to the other end of the PRRRP parallel connection part and has a rotational degree of freedom and a z translation redundant degree of freedom for performing translation motion along the rotational axis of the second series connection part. The size is compact, the structural rigidity is increased, and the accumulative error of tail end pose adjustment is reduced; th