中文摘要：

动态式连接混联机构源于直升机自动倾斜器等效机构，可广泛应用于直升机旋翼系统中球铰轴承疲劳试验机。提出内外环嵌套动态式连接的一种新混联机构，其特点是将直升机自动倾斜器原来的上下混联机构改为内外环嵌套混联机构，内外环之间采用球铰副连接，从而可以使机构体积减小，降低耗能，提高机构高速旋转时的稳定性。依据螺旋理论和等效自由度的方法，计算该混联机构的自由度。应用数值方法针对该机构进行位置正解分析。根据正解分析该机构的工作空间。所得结果可为球铰轴承疲劳试验机的研制提供参考依据。

英文摘要：

Dynamic connection hybrid mechanism derived from the auto-fiR device equivalent institutions of helicopter and can be widely used in the ball and socket bearing fatigue testing machine. Nested dynamic connection hybrid mechanism which transforms the upside and under hybrid mechanism of the helicopter automatic tilt to the inner and outer ring nested hybrid mechanism is proposed. Due to ball joints link between inner ring and outer ring, it has small size, low power consumption and high stability in the high-speed rotation. Based on screw theory, equivalent DOF approach is used in the DOF calculation of the hybrid mechanism. Numerical methods are used to solve positive displacement solution. According to the positive displacement solution, the workspace of the hybrid mechanism is analyzed. The results provide a reference for ball hinge bearing fatigue testing machine.