CN117103214A - Multi-degree-of-freedom robot manipulator and robot - Google Patents

Abstract

The embodiment of the invention discloses a robot manipulator with multiple degrees of freedom and a robot. The robot manipulator comprises a movable platform, a static platform and N branched chains which are rotationally connected between the movable platform and the static platform, wherein N is more than or equal to 2, one end of each branched chain is rotationally connected with the movable platform, each branched chain comprises a linear shaft, a linear motor is sleeved on each linear shaft and used for driving the corresponding branched chain to move relative to the linear motor, N rotary motors are fixed on the static platform, each linear motor is rotationally connected with one corresponding rotary motor on the static platform, and the rotary motor is used for driving the corresponding branched chain to rotate relative to the static platform. The manual platform of the robot manipulator can move and rotate simultaneously to realize force feedback and gesture control, and wiring is simple.

Description

Multi-degree-of-freedom robot manipulator and robot

Technical Field

The embodiment of the invention relates to the field of machinery, in particular to a robot manipulator with multiple degrees of freedom and a robot.

Background

The master-slave teleoperation robot technology is widely applied to the fields of dangerous space exploration, mass entertainment, industrial production, medical service and the like. In a teleoperation robot system, a main operator is used as interaction equipment between an operator and a robot, information such as pose, speed and the like given by the operator is transmitted to a slave end device, and meanwhile, environmental information such as force/moment and the like received by the slave end system can also be transmitted to the operator, so that the operator has an operation presence feel, and the movement of the slave end system can be effectively controlled and intervened in time.

The robot manipulator which is widely used at present is a delta parallel main manipulator. The delta parallel primary manipulator typically includes a movable platform, a stationary platform, and three branches connected between the movable and stationary platforms, which have three translational degrees of freedom in space to effect position changes and to enable force feedback.

However, the existing delta parallel main operators cannot perform attitude control.

Disclosure of Invention

The embodiment of the invention provides a robot manipulator with multiple degrees of freedom and a robot with the same, wherein a manual platform of the robot manipulator can move and rotate simultaneously so as to realize force feedback and gesture control, and wiring is simple.

The embodiment of the invention provides a robot manipulator with multiple degrees of freedom, which comprises a movable platform, a static platform and N branched chains rotationally connected between the movable platform and the static platform, wherein N is more than or equal to 2, one end of each branched chain is rotationally connected with the movable platform, each branched chain comprises a linear shaft, a linear motor is sleeved on the linear shaft and used for driving the corresponding branched chain to move relative to the linear motor, N rotary motors are fixed on the static platform, each linear motor is rotationally connected with a corresponding rotary motor on the static platform, and the rotary motor is used for driving the corresponding branched chain to rotate relative to the static platform. According to the technical scheme, the rotary motor drives the branched chain to rotate relative to the static platform, the linear motor drives the branched chain to translate, and then the movable platform connected with the branched chain in a rotating way is driven to move and/or rotate, so that the manipulator can realize force feedback and gesture control at the same time, and the problems that the degree of freedom is less and gesture control cannot be performed in the prior art are solved.

The linear motor herein refers to a motor for driving a component (herein, a linear shaft) connected thereto to perform linear motion, and the rotary motor refers to a motor for driving a component (herein, a linear motor) connected thereto to perform rotary motion.

In one possible solution, each of the linear motors is rotatably connected to the corresponding rotary motor on the stationary platform by a hook hinge. The linear motor and the rotary motor are connected through the Hooke hinge with 2 degrees of freedom, so that stable rotation can be realized, and the structure is simple.

In one possible solution, the hook joint comprises a first rotating frame and a first bearing assembly connected with the first rotating frame, wherein the first rotating frame comprises a first section fixedly connected with an output shaft of the rotating motor and a second section rotationally connected with the linear motor through the first bearing assembly. The Hooke hinge is realized by adopting the bearing structure, so that the friction resistance of an operator is reduced, and the mechanical efficiency is improved.

In one possible solution, the manipulator further comprises N encoders, each coaxially fixed to a first bearing assembly of a respective hook joint to detect the rotation angle of the linear motor. The rotation angle of the linear motor is detected through the encoder, so that the corresponding angle positions of the branched chains and the movable platform are detected, the detection precision is high, the size is small, and the structure is simple.

In a possible scheme, each branched chain further comprises a support, a sliding rail fixed on the support, and a sliding block in sliding connection with the sliding rail, wherein the linear shaft is connected with the support, and the sliding block is fixedly connected with the linear motor. Through with linear electric motor and slider fixed connection, and slider and the slide rail sliding connection who fixes on the support for the branched chain can slide relatively linear electric motor more steadily.

In one possible scheme, each branched chain further comprises a first limiting sleeve and a second limiting sleeve which are respectively sleeved at two ends of the linear shaft, and the linear motor is located between the first limiting sleeve and the second limiting sleeve. The design of the first limiting sleeve and the second limiting sleeve is favorable for preventing the branched chain from excessively moving so that the linear motor is separated from the linear shaft, and a fixed movement stroke is provided for the branched chain.

In one possible arrangement, each of the branches further comprises a grating scale steel strip secured to the support, and a grating scale reading head secured to the linear motor, the grating scale reading head being configured to detect displacement of the grating scale steel strip. The grating ruler is used for detecting the grating ruler steel belt and then detecting the moving amount of the branched chain, so that the corresponding displacement information of the movable platform is detected, and the detection precision is high, the volume is small, and the structure is simple.

In one possible solution, each of the branched chains is rotatably connected to the movable platform by a spherical hinge. One end of the branched chain and the movable platform are connected through the spherical hinge rotation with 3 degrees of freedom, so that stable rotation can be realized, and the structure is simple.

In one possible solution, the spherical hinge comprises a second rotating frame and a second bearing assembly connected with the second rotating frame, wherein the second rotating frame comprises a first section connected with the linear shaft and a second section connected with the movable platform in a rotating way through the second bearing assembly. The spherical hinge is realized by adopting the bearing structure, so that the friction resistance of an operator is reduced, and the mechanical efficiency is improved.

In one possible scheme, the second bearing assembly comprises a bearing housing, a long supporting shaft penetrating through the bearing housing, two first bearings supported by the bearing housing and respectively penetrating through two ends of the long supporting shaft, two short supporting shafts supported by the bearing housing and perpendicular to the long supporting shaft, and two second bearings supported by the second section of the second rotating frame and respectively penetrating through the two short supporting shafts, wherein the long supporting shafts are fixedly connected with the movable platform. The spherical hinge structure which is vertically and crosswise arranged has simple structure, reliable transmission and high efficiency.

In one possible solution, the movable platform includes a lower surface facing towards the stationary platform and an upper surface facing away from the stationary platform, and the long support shaft is fixed to the lower surface of the movable platform. The long support shaft is fixed on the lower surface of the movable platform, so that interference is prevented, and the movement range of the movable platform is enlarged.

The embodiment of the invention also provides a robot, which comprises the robot manipulator. The beneficial effects of the robot of the embodiment are as described in the foregoing operators, and are not described herein.

Based on the above scheme, the branched chain of the manipulator of the embodiment of the invention is driven by the linear motor to move relative to the linear motor, and the branched chain is also driven by the rotary motor to rotate relative to the static platform, so that the movable platform connected with the branched chain can move and/or rotate to transmit environmental information such as force/moment received by the slave end system to an operator, so that the operator has an operation presence feel, can effectively control and intervene in time on the movement of the slave end system, and has simple wiring.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.

FIG. 1 is a schematic perspective view of a multi-degree of freedom robotic manipulator according to one embodiment of the invention;

FIG. 2 is a partially exploded view of the multiple degree of freedom robotic manipulator of FIG. 1 with a stand not shown;

fig. 3 is a partially exploded view of the multiple degree of freedom robotic manipulator of fig. 1.

Reference numerals in the drawings:

the movable platform 10, the u-shaped notch 100, the second rotating frame 11, the first section 110, the second section 111, the arm 112, the second bearing assembly 12, the bearing housing 120, the long support shaft 121, the first bearing 122, the short support shaft 123, the second bearing 124, the washer 125, the handle 13, the stationary platform 20, the rotating motor 21, the first rotating frame 22, the first section 220 of the first rotating frame 22, the second section 221 of the first rotating frame 22, the arm 222 of the second section 221 of the first rotating frame 22, the first bearing assembly 23, the sub-bearing assembly 230, the bearing 231, the washer 232, the bearing shaft 233, the encoder 24, the detection shaft 240, the fixing piece 241, the second fixing frame 25, the vertical part 250, the horizontal part 251, the branched chain 30, the linear shaft 31, the linear motor 32, the bracket 33, the bottom plate 330, the side plate 331, the upper support 332, the lower support 333, the slide rail 34, the slide 35, the first fixing frame 36, the middle section 360, the ear 361, the first limit cap 370, the second limit cap, the grating scale 380, the grating scale head 382, the fixed bar 382.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; the device can be mechanically connected, electrically connected and communicated; either directly, or indirectly, through intermediaries, may be in communication with each other, or may be in interaction with each other, unless explicitly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances. The technical scheme of the invention is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.

The delta parallel main manipulator which is widely applied at present generally comprises a movable platform, a static platform and three branched chains connected between the movable platform and the static platform, wherein the three branched chains have three translational degrees of freedom in space to realize position change and can realize force feedback.

However, the inventors have found that such a delta parallel primary manipulator, while capable of force feedback, is not attitude controlled due to its only 3 degrees of freedom.

In the medical field, in order to enable a main manipulator to realize gesture control, a mode of decoupling a position part and a gesture part and connecting the position part and the gesture part in series is adopted by the main manipulator. The position part is realized by a delta parallel mechanism or a series mechanism of 3 degrees of freedom movable in 3 directions (however, the series mechanism is unfavorable for realizing force feedback), and the posture part is realized by a series mechanism of three-axis or four-axis (one more redundant degree of freedom) intersection which can rotate in 3 directions, such as a main operator of Davinci. However, the three-axis intersection mechanism of such a main manipulator is complicated in wiring.

Therefore, it is desirable to provide a main manipulator that can achieve both force feedback and attitude control, and is simple in wiring.

Fig. 1 is a schematic perspective view of a robot manipulator with multiple degrees of freedom according to an embodiment of the invention. As shown in FIG. 1, the robot manipulator of the present embodiment includes a movable platform 10, a stationary platform 20, and N branches 30 connected between the movable platform 10 and the stationary platform 20, wherein N is not less than 2. Preferably, n=3. Also preferably, the N branches 30 are evenly spaced circumferentially. The upper end of the branched chain 30 is rotatably connected with the movable platform 10. Three rotating motors 21 are fixed on the stationary platform 20. Each of the three branches 30 includes a linear shaft 31 connected between the movable platform 10 and the stationary platform 20, and a linear motor 32 movably sleeved on the linear shaft 31. The linear motor 32 is rotatably connected to a corresponding one of the rotary motors 21.

The total 6 driving amounts of the manipulator in this embodiment are respectively 3 rotary motors 21 on the static platform 20 and 3 linear motors 32 on the three branched chains 30, and the linear motors 32 are rotationally connected with a corresponding rotary motor 21, and one ends of the three branched chains 30 are also rotationally connected with the movable platform 10. Therefore, the manipulator of the present embodiment can achieve 6 degrees of freedom, and can achieve both force feedback and attitude control, with simple wiring.

Preferably, the illustrated upper end of each branched chain 30 is connected to the movable platform 10 through a 3-degree-of-freedom mechanism such as a spherical hinge (S pair); each of the branched chains 30 is connected to the stationary platform 20 by a 2-degree-of-freedom mechanism such as a hook (U pair), specifically, the linear motor 32 of the branched chain 30 is connected to the rotary motor 21 on the stationary platform 20 by a 2-degree-of-freedom hook (U pair); as previously described, each of the branches 30 includes a linear motor 32 that is movable (i.e., P-bar) on a linear axis 31. In other words, the manipulator of the present embodiment is preferably a 6-degree-of-freedom 3-UPS parallel mechanism.

In this embodiment, the branches 30 have the same structure. In the following, only one of the branched chains 30 will be described as an example, and the other branched chains 30 are similar and will not be described again. Specifically, referring to fig. 2, the branched chain 30 further includes an elongated bracket 33, and a sliding rail 34 fixed on the bracket 33, where the bracket 33 is connected with the linear shaft 31, and a slider 35 is fixedly connected to the linear motor 32, and the slider 35 is slidably connected with the sliding rail 34.

More specifically, the bracket 33 includes an elongated bottom plate 330, two opposite side plates 331 extending from the bottom plate 330 along the length thereof, and upper and lower holders 332 and 333 at both ends of the length of the bottom plate 330, respectively. In this embodiment, the bottom plate 330 and the opposite side plates 331 are integrally formed. The upper and lower holders 332 and 333 are respectively fixed to both ends of the length of the bottom plate 330 by screws. In other embodiments, the support 33 may be formed as a single piece, i.e., the upper support 332 and the lower support 333 may be integrally formed with the bottom plate 330 and the opposite side plates 331. The slide rail 34 is elongated and is fixed to the bottom plate 330 of the bracket 33 along its length by a plurality of screws, for example. The slide 35 is slidably engaged with a side of the slide rail 34 facing away from the bottom plate 330.

In this embodiment, the linear motor 32 is further fixed with a first fixing frame 36, for example, by screws. The first fixing frame 36 includes a plate-shaped middle section 360, and two ears 361 extending vertically from opposite sides of the middle section 360, respectively. The slide 35 is fastened to the middle section 360 of the first fastening frame 36, for example by means of screws. Thus, the linear shaft 31 and the bracket 33 can stably slide relative to the linear motor 32 by the engagement of the slide rail 34 and the slider 35.

In this embodiment, both ends of the linear shaft 31 are inserted into the upper support 332 and the lower support 333 of the bracket 33, respectively. Preferably, the branched chain 30 further includes a first stop collar 370 and a second stop collar 371 respectively sleeved on both ends of the linear shaft 31. Specifically, the first stop collar 370 abuts against the lower end surface of the upper support 332, and the second stop collar 371 abuts against the upper end surface of the lower support 333. In this embodiment, the length of the first stop collar 370 is greater than the length of the second stop collar 371. The linear motor 32 is located between the first stop collar 370 and the second stop collar 371. The design of the first stop collar 370 and the second stop collar 371 helps prevent excessive movement of the linear shaft 31 relative to the linear motor 32 such that the linear motor 32 disengages from the linear shaft 31, giving the linear shaft 31 a fixed travel range.

In this embodiment, the branched chain 30 further includes a grating ruler steel belt 380 fixed on one of the side plates 331 of the bracket 33, and a grating ruler reading head 381 fixedly connected to the linear motor 32. Specifically, a fixing strip 382 is fixed on the grating ruler reading head 381. The fixing strip 382 is bent at 90 ° approximately, and one end thereof is fixedly connected to the grating scale reading head 381, for example, by a screw, and the other end thereof is fixedly connected to the top end of the middle section 360 of the first fixing frame 36, for example, by a screw, thereby being fixedly connected to the linear motor 32. When the linear shaft 31 moves relative to the linear motor 32, the bracket 33 connected with the linear shaft 31 and the grating scale steel belt 380 fixedly connected with the bracket 33 also move synchronously with the linear shaft 31, so that the grating scale reading head 381 fixedly connected with the linear motor 32 can detect the displacement of the grating scale steel belt 380, namely the branched chain 30.

As described above, in the present embodiment, the linear motor 32 is connected to the rotary motor 21 on the stationary platform 20 through a hook joint with 2 degrees of freedom. Specifically, the hook joint includes a first rotating frame 22, and a first bearing assembly 23 connected to the first rotating frame 22. In this embodiment, the first rotating frame 22 includes a first hollow cylindrical section 220, and a U-shaped second section 221 perpendicularly connected to the first section 220 of the first rotating frame 22. The first section 220 of the first rotating frame 22 wraps the output shaft of the rotating electric machine 21 and is fixedly connected with the output shaft of the rotating electric machine 21. The second section 221 of the first rotating frame 22 is rotatably connected to the ear 361 of the first fixing frame 36 via the first bearing assembly 23, and thus is rotatably connected to the linear motor 32.

In this embodiment, the first bearing assembly 23 includes two sets of sub-bearing assemblies 230 for respectively connecting the two arms 222 of the second section 221 of the first rotating frame 22 and the two ears 361 of the first fixing frame 36. Each sub-bearing assembly 230 includes a bearing 231 received in a corresponding one of the arm portions 222, a washer 232 positioned between the bearing 231 and the ear portion 361, and a bearing shaft 233 passing through the bearing 231 and the washer 232 to be connected to the ear portion 361. Preferably, the bearing 231 is a deep groove ball bearing.

In this embodiment, the manipulator further includes three encoders 24, and each encoder 24 is correspondingly fixed to a hook hinge to detect the rotation angle of the first fixing frame 36, thereby detecting the rotation angle of the linear motor 32. Specifically, the detection shaft 240 of the encoder 24 is coaxially inserted into one of the bearing shafts 233 of the first bearing assembly 23, and is fixed to the first rotary frame 22 by a fixing piece 241. Specifically, the fixing piece 241 is bent, and has one end fixed to the encoder 24, for example, by a screw, and the other end fixed to one of the arm portions 222 of the second section 221 of the first rotating frame 22, for example, by a screw. When the output shaft of the rotary electric machine 21 rotates, the first rotary frame 22 follows the rotation of the output shaft of the rotary electric machine 21, so that the first mount 36 fixed to the linear electric machine 32 rotates, and the encoder 24 detects the rotation angle of the first mount 36.

In this embodiment, the rotating electric machine 21 is fixed to the stationary platform 20 by a second fixing bracket 25. Specifically, the second fixing frame 25 includes a vertical portion 250 fixedly connected to the rotating electric machine 21, for example, by a screw, and a horizontal portion 251 fixedly connected to the stationary platform 20, for example, by a screw. Preferably, the static platform 20 is plate-like and may stand on the ground by other support structures. Preferably, three rotating electrical machines 21 are uniformly distributed circumferentially on the stationary platform 20, i.e. at an angle of 120 ° between adjacent rotating electrical machines 21.

As described above, in this embodiment, the illustrated upper end of each branched chain 30 is connected to the movable platform 10 by a spherical hinge with 3 degrees of freedom. Specifically, referring to fig. 3, the spherical hinge includes a second rotating frame 11, and a second bearing assembly 12 connected to the second rotating frame 11. The second swivel mount 11 comprises a first section 110 connected to the linear shaft 31 via the upper support 332, and a U-shaped second section 111 rotatably connected to the movable platform 10 via the second bearing assembly 12. The second section 111 of the second rotating frame 11 comprises two opposite arm portions 112.

The movable platform 10 is recessed at its periphery to form three U-shaped notches 100 for receiving the three second bearing assemblies 12. Preferably, three second bearing assemblies 12 are circumferentially evenly distributed on the movable platform 10, i.e., adjacent second bearing assemblies 12 are at an included angle of 120 °. In this embodiment, the second bearing assembly 12 includes a hollow cylindrical bearing housing 120, a long support shaft 121 penetrating the bearing housing 120 along an axis of the bearing housing 120, two first bearings 122 supported on the bearing housing 120 and respectively penetrating both ends of the long support shaft 121, two short support shafts 123 supported on the bearing housing 120 and perpendicular to the long support shaft 121, and two second bearings 124 respectively supported on two arm portions 112 of the second section 111 of the second rotating frame 11 and respectively penetrating the two short support shafts 123, wherein the long support shaft 121 and the movable platform 10 are fixedly connected, for example, by screws. Preferably, the long support shaft 121 is fixed to a lower surface of the movable platform 10 facing the stationary platform 20, thereby preventing interference and increasing a movement range of the movable platform 10. Also preferably, a washer 125 is disposed between each first bearing 122 of the second bearing assembly 12 and the wall of the U-shaped gap 100 of the movable platform 10. Similarly, a gasket 125 is disposed between each second bearing 124 in the second bearing assembly 12 and the outer wall of the bearing housing 120. The first bearing 122 and the second bearing 124 are preferably deep groove ball bearings.

In this embodiment, the manipulator further includes a handle 13 fixedly connected to the movable platform 10. The handle 13 is provided with a button for the doctor to operate.

In an embodiment of the present invention, there is also provided a robot including the manipulator, the surgical robot arm, and the image processing apparatus of the foregoing embodiments. Buttons on the handle of the manipulator are used for the doctor to actively control the operation, and the manipulator comprises a controller. The surgical robotic arm is configured to respond to a physician's control operation and to control the action of a surgical instrument, such as an electric knife, forceps, clip, or hook, to perform a minimally invasive procedure on a patient. The surgical robotic arm includes a sensor for detecting motion of the surgical instrument, and the sensor is coupled to a controller of the manipulator. The image processing equipment is coupled with the endoscope and presents the operation picture peeped by the endoscope in real time so as to allow a doctor to check the movement track and operation process of the operation instrument.

During operation, a doctor actively controls a button on a handle of an operation hand, and transmits a command to the operation mechanical arm through the controller, so that the operation instrument acts; the sensor of the operation mechanical arm transmits the motion data of the operation instrument to the operator through the controller, the linear motor 32 and the rotary motor 21 of the operator drive the branched chain 30 to move and rotate respectively by means of the grating ruler reading head 381 and the encoder 24, and further drive the movable platform 10 to move and rotate so as to feed back the motion of the operation instrument at the handle 13 of the movable platform 10, thereby realizing interaction between a doctor and mechanical information of the operation instrument in the operation process, namely realizing simulation of actual operation of the operation instrument by the doctor through the operator. In operating the manipulator of this embodiment, the doctor can release the handle in any posture, and the movable platform will maintain that posture without "falling".

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be a direct contact between the first feature and the second feature, or an indirect contact between the first feature and the second feature through an intervening medium.

Moreover, a first feature "above," "over" and "on" a second feature may be a first feature directly above or obliquely above the second feature, or simply indicate that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is at a lower level than the second feature.

In the description of the present specification, reference to the description of the terms "one embodiment," "some embodiments," "examples," "particular examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (12)

1. The manipulator comprises a movable platform, a static platform and N branched chains which are rotationally connected between the movable platform and the static platform, wherein N is more than or equal to 2, one end of each branched chain is rotationally connected with the movable platform, each branched chain comprises a linear shaft, a linear motor is sleeved on the linear shaft and used for driving the corresponding branched chain to move relative to the linear motor, N rotary motors are fixed on the static platform, each linear motor is rotationally connected with a corresponding rotary motor on the static platform, and the rotary motor is used for driving the corresponding branched chain to rotate relative to the static platform.

2. The robotic manipulator of claim 1, wherein each of the linear motors is rotatably coupled to a respective one of the rotary motors on the stationary platform via a hook joint.

3. The robotic manipulator of claim 2, wherein the hook joint comprises a first swivel mount and a first bearing assembly coupled to the first swivel mount, the first swivel mount comprising a first section fixedly coupled to an output shaft of the rotary motor and a second section rotatably coupled to the linear motor via the first bearing assembly.

4. A robotic manipulator as claimed in claim 3, in which the manipulator further comprises N encoders, each of which is coaxially fixed to a first bearing assembly of a respective hooke's joint to detect the angle of rotation of the linear motor.

5. The robotic manipulator of claim 1, wherein each of the branches further comprises a bracket, a slide rail secured to the bracket, and a slider slidably coupled to the slide rail, the linear shaft being coupled to the bracket, the slider being fixedly coupled to the linear motor.

6. The robotic manipulator of claim 5, wherein each of the branches further comprises a first stop collar and a second stop collar respectively sleeved on each end of the linear shaft, and the linear motor is located between the first stop collar and the second stop collar.

7. The robotic manipulator of claim 5, wherein each of the branches further comprises a grating scale steel strip secured to the support and a grating scale reading head secured to the linear motor, the grating scale reading head configured to detect displacement of the grating scale steel strip.

8. The robotic manipulator of claim 1, wherein each of the branches is rotatably coupled to the movable platform by a ball joint.

9. The robotic manipulator of claim 8, wherein the spherical hinge comprises a second swivel mount and a second bearing assembly coupled to the second swivel mount, the second swivel mount comprising a first section coupled to the linear shaft and a second section rotatably coupled to the movable platform via the second bearing assembly.

10. The robot manipulator of claim 9, wherein the second bearing assembly comprises a bearing housing, a long support shaft penetrating the bearing housing, two first bearings supported by the bearing housing and respectively penetrating through both ends of the long support shaft, two short support shafts supported by the bearing housing and perpendicular to the long support shaft, and two second bearings supported by the second section of the second rotating frame and respectively penetrating through the two short support shafts, wherein the long support shaft is fixedly connected with the movable platform.

11. The robotic manipulator of claim 10, wherein the movable platform comprises a lower surface facing toward the stationary platform and an upper surface facing away from the stationary platform, the elongate support shaft being secured to the lower surface of the movable platform.

12. A robot, characterized in that the robot comprises a robot manipulator according to any of claims 1-11.