中文摘要：

高精度、大工作空间的机器人系统推动了精密操作工程的发展，宏、微操作手直接串联构成的机器人系统由于体积大，适用性在一定程度上受到了限制，因此开发体积小的宏／微机器人机构具有重要的意义。双重驱动并联机构本质上是两个具有相同自由度数目并联机构的集成，其结构简单、紧凑，灵活性更高，工作空间更大，可以用来开发体积小的宏／微操作机器人。基于螺旋理论，提出了双重驱动四自由度并联机构型综合的方法。作为示例，综合了三移一转四自由度双重驱动并联机构，得到了一些新型的双重驱动四自由度并联机构。

英文摘要：

Robot systems with high accuracy and big working space promote the of precision - operating euginering fields. The robot systems that formed by tandem macro manipulator and micro manipulator are limited because of the big volume. It is significant to design macro/micro robot mechanisms with smaller volume. Dual - driven parallel mechanisms integrate two parallel manipulators with the same degrees of freedom essentially. This kind of mechanisms of simple and compact structure has better dexterity and bigger working space, so it can be used to design macro/micro robot systems with smaller volume. This paper develops an approach to type synthesis of dual driven 4 - DOF （ degrees of freedom） parallel manipulators based on the screw theory. As an example, synthesis procedures of 4 -DOF parallel mechanism with three translation freedoms and one rotation freedom are given, from which some novel dual drive parallel mechanisms amy result.