The invention relates to a spatial six-mobility drilling
robot mechanism, which comprises a one-dimensional rotating large arm mechanism, a two-dimensional rotating small arm mechanism and a three-dimensional rotating platform mechanism which are connected in series, wherein a rotating large arm is driven by a linear driver, a rotating small arm is driven by two linear drivers, a rotating platform is driven by three linear drivers in parallel, and a frame can be installed on a traveling device or a fixed rotating device. The drilling
robot mechanism has the advantages of large
working space, agile track, simple and compact overall structure, and good error compensation and strong
impact bearing capability of the rotating platform which is uniformly distributively supported by the linear drivers, good stability during drilling and capability of realizing high-precision operation. According to the invention, various terminal actuators with different purposes are installed on a three-dimensional rotating platform, thus the spatial six-mobility drilling
robot mechanism can be applied to carrying, stacking, assembling,
cutting and other industrial production, and can also be applied to fields, such as excavators and other
engineering machinery as well as bionic arms, bionic legs and other bionic mechanisms and the like.