中文摘要：

工业自动化水平的不断提高,对混联机构的机型要求也越来越高。文中提出一种新的混联机构机型,该机型采用内外环嵌套、中间由滚珠轴承连接,内、外环分别由RPS＋3-SPS和PRS＋3-SPS并联机构嵌套构成。机构源于直升机自动倾斜器等价机构,可用于直升机球铰轴承疲劳试验机。文中应用螺旋理论对该混联机构的自由度进行了分析,并对该机构的位置反解及工作空间进行了研究,为机构的进一步研究和应用奠定了理论指导基础。

英文摘要：

Higher and higher requirements to hybrid mechanism are put forward with the development of industrial automation. This paper presents a new hybrid mechanism structure, which adapts a dynamic connection structure with nested inner-outer ring and ball bearing located in centerline. The RPS＋3-SPS and PRS＋3-SPS parallel mechanisms are respectively used for the inner ring and the outer ring. The mechanism is derived from helicopter＇s au- to inclining device, which can be used in fatigue tester. In this paper, the freedom degree of the new structure was analyzed by screw theory. The inverse position and the working space of this new mechanism is analyzed, which laid theoretical foundation for further research and application.