1T and (1T1R) and 1R four-degree-of-freedom decoupling hybrid mechanism

The invention belongs to the field of robots and particularly relates to a space decoupling hybrid mechanism. The space decoupling hybrid mechanism mainly comprises a three-branch parallel-connected mechanism (1T1R), as well as a moving pair 1T connected on a lower platform of the parallel-connected mechanism and a rotating pair 1R connected on a moving platform. The three-branch parallel-connected mechanism comprises the lower platform, the moving platform and three branches connecting the moving platform and the lower platform. The branch I comprises a moving pair, a cylindrical pair and a rotating pair, as well as two connecting rods for connecting the pairs; the branch II comprises a rotating pair which is parallel to the lower platform and two spherical pairs; the branch III comprises a rotating pair which is parallel to the lower platform, a parallelogram-shaped hinge and two rotating pairs with mutually parallel axial lines, as well as three connecting rods for connecting the parts; and the tail end of the hybrid mechanism is connected with the moving platform through the rotating pair with an axial line which is vertical to the moving platform. The space decoupling hybrid mechanism provided by the invention can realize two movement functions along the direction of a sliding slot and in the direction which is vertical to the lower platform, and two rotation functions around the axial lines of the rotating pair which is parallel to the lower platform and the rotating pair at the tail end of the mechanism, and has the advantages of simple structure, large operation space, motion decoupling and easiness in control.