Double-displacement double-rotation four-degree-of-freedom decoupling parallel mechanism

The invention belongs to the field of robotics and particularly relates to a spatial decoupling parallel mechanism. The spatial decoupling parallel mechanism comprises a fixed table, a moving table and four branches connecting the fixed table and the moving table. A chute and a cylindrical guide rail are respectively mounted on the connected two sides of the fixed table. The fixed table and the moving table are rectangular. The branch I is composed of two moving pairs perpendicular to each other in the center line, two rotating pairs perpendicular to each other in the axial line, and three connecting rods connecting the two moving pairs and the two rotating pairs. The branch II is composed of three rotating pairs parallel to the fixed table in the axial line, two rotating pairs parallel to the fixed table in the axial line and perpendicular to the axial lines of the three rotating pairs, and four connecting rods connecting the three rotating pairs and the two rotating pairs. The branch III is composed of one moving pair, one parallelogram hinge, three rotating pairs and four connecting rods connecting the moving pair, the parallelogram hinge and the three rotating pairs. The branch IV is composed of a cylinder, three rotating pairs and three connecting rods connecting the cylinder and the three rotating pairs. The spatial decoupling parallel mechanism is stable in structure, can achieve two-dimensional movement in the direction perpendicular to the fixed table and the chute of the fixed table and two-dimensional rotation around the rotating pairs perpendicular to each other in the axial line on the moving table and perform movement decoupling and is easy to control and high in load bearing capability.