Miniature parallel robot and flat design manufacturing method

A flat design manufacturing method of a miniature parallel robot fixed platform, the miniature parallel robot comprising a fixed platform, a moving platform, and a kinematic chain connecting the two platforms, the kinematic chain formed by a plurality of branches, comprising the following steps:

• S1:
• treating a direction perpendicular to the fixed platform as a longitudinal direction and a direction parallel to the fixed platform as a transverse direction and dividing an overall structure of the miniature parallel robot to be manufactured in both the longitudinal direction and the transverse direction, wherein the overall structure forms a plurality of assembly units after being divided in the longitudinal direction, each assembly unit comprises at least one branch, and each assembly unit is disconnected at a non-joint position of the branch after being divided in the transverse direction and forms at least two linkage units;
• S2:
• performing flat machining on solid components of each linkage unit divided from the overall structure to obtain a linkage component corresponding to each linkage unit, wherein each linkage component has a multi-layer flat composite structure with a flexible flat material layer as a middle layer and rigid flat material layers on outermost two sides, the flexible flat material layer and the rigid flat material layers are fixed through adhesive material layers, a joint contained in the linkage component has a linear rotation axis, a joint position is connected only by the flexible flat material layer, the rigid flat material layer on each side is discontinuous and disconnected at the linear rotation axis, the rigid flat material layers on both sides of a disconnection position are mutually engaged through serrated edges, and between two adjacent linkage components having a splicing relationship in the overall structure, connection structures that can be paired and connected are provided at splicing positions thereof;
• and
• S3:
• assembling all linkage components according to positional relationships thereof in the overall structure to obtain the miniature parallel robot.