Bionical snakelike robot of modularization based on RSR configuration parallel mechanism

The utility model discloses a bionical snakelike robot of modularization based on RSR configuration parallel mechanism, establish ties by the movement module that a plurality of structures are the same and form, movement module adopts the parallel mechanism who has the three degree of freedom, parallel mechanism includes that three structures are the same and along the RSR series connection side chain of circumference equipartition, quiet platform with move the platform, every RSR series connection side chain includes drive arrangement, driving lever and driven lever, the input and the drive arrangement of driving lever are connected, drive arrangement fixes on quiet platform, the output of driving lever and the input swing joint of driven lever, the output of driven lever with move the platform and pass through joint axis and be connected, joint axis sets up on moving the platform, two adjacent movement module, platform of quiet platform sharing that moves platform and another movement module of one of them