Translation and rotating decoupling six-degree-of-freedom heavy load robot mechanism

The invention relates to a translation and rotating decoupling six-degree-of-freedom heavy load robot mechanism and belongs to the field of robot mechanism theories. The mechanism comprises a rack, a translation platform, a rotating platform and first, second, third, fourth, fifth, sixth and seventh branches, wherein the structures of the first, second and third branches are identical, and a driving parallelogram mechanism and a driven parallelogram mechanism are sequentially connected from the rack to the translation platform; the structures of the fourth, fifth and sixth branches are identical, and a hook joint, a moving pair and a ball pair are sequentially connected from the translation platform to the rotating platform; and only one ball pair connecting the translation platform and the rotating platform is available in the seventh branch. The robot mechanism has the characteristics of being low in coupling, light in weight, large in work space and the like, is suitable for high-speed and heavy-load occasions and has great application prospects.