Quartering three degree of freedom isotropic plane parallel robot mechanism

Quartering three degree of freedom isotropic plane parallel robot mechanism, including quiet platform, middle platform, terminal operation hand and four branch's motion chains, every branch's motion chain all directly is connected with quiet platform, in rotation axis between first branch motion chain and the quiet platform, the second branch motion chain and the rotation axis between the quiet platform, third branch to move the chain perpendicular with two liang in rotation axis between the quiet platform to be orthogonal arrangement in the space, rotation axis and first branch motion chain between fourth branch motion chain and the quiet platform are parallel with the rotation axis between the quiet platform, first branch motion chain is proper constrained motion chain, and second branchmotion chain, third branch motion chain and fourth branch motion chain by the dynamic mechanism driving who corresponds, realize that two -dimensional moving and the one -dimensional of terminal operation hand in the space r