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中文摘要：
结合并联机构与串联机构的优势,设计了-种新型混联机构,该机构由3-UPU并联机构和2 自由度旋转机构串 联而成.对该机构进行了自由度分析,分步分析其位置正解,先运用封闭解法对3-UPU并联机构分析,得到3-UPU并联机 构的位置正解;然后采用坐标变换分析在2 自由度旋转机构作用下,3-UPU并联机构位置正解的变化,最终得出了该混联 机构的位置正解.
英文摘要：
Combining the advantages of parallel mechanism and serialmechanism, a new hybrid mechanism was designed. It was built in series by the 3-UPU parallel mechanism and two degree of freedom （2-DOF） rotating mechanism. The freedom of it was ana-lyzed and the forwardsolutions of its position were analyzed step by step. By use of a closed solution, the 3-UPU parallel mechanism was analyzed to obtain the forward position of 3-UPU parallel mechanism. By use of the coordinate transformation, the change off or ward solution of position of the 3-UPU parallel mechanism was analyzed under the functional role of 2-DOF rotating mechanism. Final results are obtained for the hybrid mechanism of forward solution of position.
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