中文摘要：

提出一种由空间三自由度混联机构和二自由度运动平台组成的五轴联动混联机床构型,运用螺旋理论分析该机构的运动原理。采用闭环矢量法和速度映射关系,对该机床构型的运动学特性进行分析,给出了该机构的位置逆解,确定驱动杆和动平台之间的位姿关系。在此基础上,分析了速度性能及姿态空间,得到机构速度Jacobian矩阵。通过运动学仿真,验证了机床运动学分析的正确性。研究表明,具有该结构的机床可实现较大摆角的加工工作,刀具的摆角可达（-40°-90°）,通过五轴联动和刀具的大摆角转动,可实现对复杂工件的五面精密加工。

英文摘要：

A novel five - axis linkage hybrid kinematics machine （HKM） which is composed of a 3 - DOF parallel kinematics mechanism and a 2 - DOF motion platform. The moving principle of this machine is ana- lyzed by using the screw theory. The kinematics characteristic of this HKM is analyzed by using the closed - vector method and velocity mapping. The inverse solution of position analysis is given. The position and orientation relationship between the actuating arm and the moving platform is determined. Then, the performance of the velocity and the orientation space is analyzed. The velocity Jacobian matrix of mechanism is obtained. The validity of the kinematics analysis of HKM is verified by the kinematics simulation. The research shows that machine with the structure can realize large pendulum angle of processing. The pendulum angle can reach . With the five -axis linkage and large pendulum angle rotation, the precision machining of complex workpiece with five surfaces can be achieved.