中文摘要：

自动倾斜器是直升机旋翼系统及操纵系统中最关键的部件，对其结构进行分析研究，建立了自动倾斜器上、下操纵机构运动学等效并联机构数学模型-4-（R）Rss＋（R）RRS＋PS和3-SPS＋RRS＋PS。基于串并联机构理论，利用空间机构学和螺旋理论方法得出上、下操纵机构自由度，并采用螺旋理论验证了公式计算的正确性。同时应用Pro／E软件建立机构三维模型并用ADAMS软件进行仿真，分析了液压助力器速度、桨叶迎角和滚动轴承角加速度变化规律。结果验证了并联机构结构的正确性，为自动倾斜器自润滑关节轴承试验样机机构设计和尺寸确定奠定了基础。

英文摘要：

Swashplate is the critical component in helicopter＇s control and rotor. The upper and lower control system can be analyzed by parallel mechanism model which is named as 4-（R）RSS ＋（R）RRS ＋PS mechanism and 3-SPS＋RRS ＋PS mechanism. The degree of freedoms of the upper and lower control system are analyzed based on the spatial mechanism and screw theory. The results show the formula calculations are correct by using screw theory. Then three-dimensional model is generated by applying Pro/E software, which is imported into ADAMS for analyzing. Simultaneously the velocity of hydraulic boosters, blade angle of attack and angular acceleration of roUing bearing are obtained. The simulation results showed that the analysis is right. This can offer the theory basis for self-lubricating spherical plain bearing tester of helicopter swashplate＇s mechanism design and the size determination.