中文摘要：

混合驱动机构是可控机构的一种,其适度柔性以及降低驱动与控制成本的特性与优势使其成为现代机构学的重要研究分支之一。随着对混合驱动机构研究的深入,混合驱动机构理论和应用也不断地发展和创新。对现有的研究成果加以分析和总结将有利于促进混合驱动机构理论和应用的进一步发展。分析混合驱动机构的内涵,分别论述双自由度和多自由度混合驱动机构的研究进展,主要包括：混合驱动机构的构型设计与可动性、混合驱动机构的轨迹特征、混合驱动机构的运动学、混合驱动机构的动力学及混合驱动机构的应用等方面的研究进展。提出混合驱动机构研究的关键问题,总结了混合驱动机构的未来发展趋势。研究成果对拓展混合驱动机构的设计空间、开辟混合驱动机构新的应用领域具有重要意义。

英文摘要：

Hybrid-driven mechanism is one kind of controllable mechanism. The characteristics and advantages of moderate flexibility and reducing the cost of driving and controlling of hybrid-driven mechanism make it become one of the important branches of modern mechanisms. The theory and application of hybrid-driven mechanism are constantly developing and innovating along with the further research of hybrid driving mechanism. Analyzing and summarizing the existing research results will be beneficial to promote the further development of the theory and application of hybrid-driven mechanism. The connotation of hybrid-driven mechanism is analyzed. The research progress of two-DOF and multi-DOF hybrid-driven mechanism is discussed, respectively. The main contents are follows： type synthesis and mobility of hybrid-driven mechanism, trajectory characteristics of hybrid-driven mechanism, kinematics and dynamics of hybrid-driven mechanism, applications of hybrid-driven mechanism, etc. The key issues of in the research of hybrid-driven mechanism are presented. The future development trend of hybrid-driven mechanism is summarized. The results have important significance to expand the design space of hybrid-driven mechanism, and to open up new application fields of hybrid-driven mechanism.