中文摘要：

随着精密工程的发展,柔性机构的应用前景越来越广。现有柔性机构的种类相对较少,因此综合更多的柔性机构,尤其高性能的柔性机构变得至关重要。在旋量理论指导下,提出一种基于自由与约束对偶原理的并联柔性机构的图谱化构型综合方法。该方法简单、直观,物理意义明确。随后对3自由度（2R1T和3R）并联柔性机构进行构型综合,给出一系列综合实例。为寻求高性能的构型,提出一种针对实际柔性约束的主自由度分析方法,来验证所得构型的自由度。最后,对一种2R1T并联柔性机构进行主自由度分析,通过分析给出了结构参数对机构特征柔度的影响。

英文摘要：

With the development of precision engineering,flexure mechanisms are more and more applied in many fields.The increasing of application requirements call for development of a variety of flexure mechanisms,especially high performance ones.Under the direction of screw theory,a graphic configuration synthesis method based on the complementary rule of freedom and constraint is proposed to synthesize parallel flexure mechanisms.This method is visual and has a definite physical meaning.The synthesis chart of 2R1T and 3R parallel flexure mechanisms is presented as an illustration.In order to verify the characteristic of freedom,a principal freedom analysis method aiming at the practical flexible constraint is also proposed.The analysis of a 2R1T parallel flexure mechanism is implemented,and the influence of structure parameters on the mechanism characteristic compliance is given through the analysis.