Parallel mechanism to implement tri-translation and mono-rotation

The invention relates to a parallel mechanism to implement tri-translation and mono-rotation, consisting of a slider (8) and an end effector (7), and three groups of planar linkage mechanisms connecting said two, where the three groups include a five bar slider mechanism, a slider-crank mechanism and a plane four bar mechanism. The plane four bar mechanism consists of a driving element (5) and a driven element (6, 20). The end effector (7) has a rotary shaft connected to a connecting bar (2), while the driven element (20) of the plane four bar mechanism is connected with the end effector. The five bar slider mechanism and the slider-crank mechanism share a slider (4) and a drive motor (12), while the slider (4) is served as a driving element of the five bar slider mechanism. The slider-crank mechanism and the five bar slider mechanism form a planar combination mechanism to implement two degrees of freedom (DOF) motion required by the end effector by use of a drive motor (12). The plane ...