Novel cluster and series -parallel connection arm

The utility model discloses a novel cluster and series -parallel connection arm can satisfy the application demand under the condition such as complicated shape processing, special environment operation, high -precision technical requirement. Cluster and series -parallel connection arm, connect right side of motor and right arm through setting up series connection mechanism part ring flange, crankconnection left side motor and connecting rod, common drive platform movement, the parallel mechanism part acts on simultaneously and makes the workstation realize the sphincteral movement through motor direct drive pendulum rod motion, cluster parallel mechanism simultaneously. Make mechanical arm system when improving rigidity and bearing capacity, obtained great working space. 本实用新型公开了种新型串并混联机械臂，可满足复杂零件处理、特殊环境作业、高精技术要求等情况下的应用需求。所述的串并混联机械臂，通过设置串联机构部分法兰盘连接右侧电机与右臂，曲柄连接左侧电机与连杆，共同驱动平台运动，同时并联机构部分通过电机直接驱动摆杆运动，串并联机构同时作用使工作台实现球面运动。使机械臂系统在提高刚度和承载能力的同时，获得了较大的工作空间。