中文摘要：

通过对几种典型少自由度并联机构的研究,基于人体手臂的运动形式,提出了一种新的结构,即并-串结构的机械手臂.该结构具有精度高,承载能力强,工作空间大,运动灵活,较好的工作姿态能力等特点.特别适用于狭小地域空间,姿态能力要求较高的场合.对该结构的设计,利用三维软件进行建模,对该两级结构的工作空间进行分析.进一步对结构进行静力学分析,从而求出整个结构的约束反力,为并-串结构的研究提供了理论基础.

英文摘要：

By researching on several typical lower DOF parallel mechanisms,a new type of parallel-series structure mechanical arm was proposed based on the movement from of human arm,which has the the characteristics of high accuracy,strong bearing capacity,large workspace,flexible movement,better working posture ability and so on.This structure is especially suitable for the workplace with small working space and high working gesture ability.The parallel-series structure mechanical arm was designed,the 3D model was established and the working scope of this two-level structure was analyzed,The constraint forces of the whole strucyure was obtained by statics analysis,which provide theoretical basis for studying parallel-series structure.