中文摘要：

绍了国内外并联机构的发展,通过与串联机构的比较,详细说明了并联机构的特点及其在各个领域中的应用。六杆并联机构是并联机构的一种特殊形式,文中具体阐述了其工作原理,并结合上海第三代同步辐射装置软X谱学显微光束线中使用的特殊六杆并联调节机构,对其特点做进一步说明。

英文摘要：

This paper introduces the development of the parallel mechanism at home and abroad, shows the features of the parallel mechanism and application in various fields by comparison with the serial mechanism. The working principle of the six-bar parallel mechanism was provided as a special form of the parallel mechanisms, and the features were explained by combining with the six-bar parallel mechanism used in the soft X-ray spectromicroscopy beamline of the third generation synchrotron radiation facility in Shanghai.