Five-degree-of-freedom hybrid robot

A five-degree-of-freedom hybrid robot, comprising:

• a first pair of fixed supports and a second pair of fixed supports;
• a first rotating frame, a second rotating frame, and a third rotating frame;
• a rotation constraint mechanism;
• a first actuated limb, a second actuated limb, and a third actuated limb;
• a moving platform;
• and
• a two-degree-of-freedom wrist serially connected to the moving platform;
• wherein:
• the first pair of fixed supports and the second pair of fixed supports are arranged mutually parallel and symmetrically with each other;
• the first rotating frame is rotatably disposed between two laterally opposed members of the first pair fixed supports;
• the second rotating frame is rotatably disposed between two laterally opposed members of the second pair fixed supports;
• the third rotating frame is rotatably connected to the second rotating frame via an inter-frame revolute joint;
• the first actuated limb and the second actuated limb are symmetrically disposed on the first rotating frame;
• one end of each of the first actuated limb and the second actuated limb is rotatably connected to the first rotating frame, and the other end thereof is rotatably connected to the moving platform;
• the first actuated limb and the second actuated limb lie in a common horizontal plane;
• one end of the third actuated limb is rotatably connected to the third rotating frame, and the other end thereof is rotatably connected to the moving platform;
• and
• the rotation constraint mechanism is disposed between the first rotating frame and the second rotating frame, and is configured such that an axis of the inter-frame revolute joint remains perpendicular to the common horizontal plane in which the first actuated limb and the second actuated limb lie.