中文摘要：

在方位特征输出矩阵的基础上提出一种新的研究方法＂齐次方位输出特征矩阵＂法,简称＂齐次特征阵＂,用变量描述机构的运动副特性,用常量描述构件之间的坐标转换,并特别定义了齐次特征阵的含义和运算法则,以弥补拓扑机构学理论对直角坐标系下运动特征描述的不足,拓展机构拓扑理论的应用范围。通过对Stewart机器人为例做阐述,论述了Stewart机器人在固定直角坐标系下自由度、分别绕三个轴线旋转和沿三个轴线移动的特性。齐次方位输出特征矩阵为机构设计提供了一个新方法。

英文摘要：

With special define and operation rules given,a new research method named homogeneous azimuth character export matrix which is shortly called homogeneous character matrix is provided so as to expand the use of topology mechanism. With Stewart robot studied as an example,characters of freedom together with moving along the axes and turning around the axes under right angle coordinates are studied. It provides a new method for the research of parallel mechanisms.