Single-layer three-section rail-type planar robot containing a double parallelogram

A single-layer three-section rail-type planar robot containing a double parallelogram, comprising:

• a stationary platform (1), a motion platform (6) and three branched chains with the same structure connecting the stationary platform (1) and the motion platform (6);
• wherein the stationary platform (1) is provided with three planar curved rails (1.1), each planar curved rail (1.1) is connected to the motion platform (6) through a branched chain, and each branched chain comprises a slider (2), two link bars I (4) arranged in parallel, two link bars II (5) arranged in parallel, and a link bar III (10), the slider (2) is connected with a planar curved rail (1.1) in a sliding mode, the slider (2) is rotatably connected with one end of the two link bars I (4) by a revolute joint I (3), another end of the two link bars I (4) is rotatably connected with the link bar III (10) by a revolute joint II (7), both ends of the link bar III (10) are rotatably connected with the two link bars II (5) by the revolute joint II (7), and other ends of the two link bars II (5) are rotatably connected with the motion platform (6) by revolute joints III (8);
• wherein in a branched chain, a distance between the revolute joint I (3) and the revolute joint II (7) connected at both ends of one the two link bars I (4) is equal to a distance between the revolute joint 1 (3) and the revolute joint II (7) connected at both ends of other ones of the two link bars 1 (4), and a distance between the revolute joint II (7) and the revolute joint III (8) connected at both ends of one of the two link bars 11 (5) is equal to a distance between the revolute joint II (7) and the revolute joint III (8) connected at both ends of other ones of the two link bar II (5);
• wherein axes of the two revolute joints 1 (3) are parallel to each other, all perpendicular to a plane of motion (9) of the slider (2) relative to the planar curved rail (1.1);
• axes of the two revolute joints II (7) are parallel to each other, perpendicular to the plane of motion (9) of the slider (2) relative to the planar curved rail (1.1);
• axes of the two revolute joints I1I (8) are parallel to each other, perpendicular to the plane of motion (9) of the slider (2) relative to the planar curved rail I (1.1);
• Wherein one revolute joint I (3) is selected in each of the branched chain to form three revolute joints 1 (3) as a main driving joint or three sliders (2) as driving parts;
• the three planar curved rails (1.1) are arc-shaped with different circle centers;
• wherein the three planar curved rails (1.1) are sequentially connected end to end along a same direction;
• and the three plane of motions (9) of the three sliders (2) respectively relative to the three planar curved rails (1.1) comprise:
• a first plane of motion, a second plane of motion, and a third plane of motion, and the first plane of motion, the second plane of motion, and the third plane of motion are different planes and parallel to each other.