中文摘要：

基于被动链原理和力偶支链特点,提出了一种简单而有效的非对称3TnR（n=0、1、2）并联机构型综合方法。为此,首先定义了力偶支链和无约束支链,并列举了两类支链可能的支链类型。然后,结合被动链原理和机构运动的影响因素给出非对称3TnR并联机构型综合原理,并以综合3T1R并联机构为例,研究了该类机构型综合步骤,且综合出三种新型3T1R并联机构。最后,通过对新机机构进行仿真分析,验证了该机构型综合方法的正确性和有效性。

英文摘要：

A simple and effective method to synthesize 3TnR（n=1,2,3）parallel mechanism was proposed based on the principle of passive chain and couple chain.Therefore,couple chain and unconstrained chain were defined first,and the possible types of the chain were listed.Then,synthesis principle of asymmetric 3TnR parallel mechanism was given out combined with the principle of passive chain and couple chain.Taking 3T1R parallel manipulator as an example,structural synthesis steps were studied and three kinds of new 3T1R parallel mechanisms were synthesized out.In the end,the correctness and validity of this structural synthesis method was proved by simulation analysis to the new mechanism.