中文摘要：

给出一种新型共轴混联机构,该机构由一个并联机构与一个混联机构同轴反方向旋转构成,其特点是机构反向旋转的两个动环并不直接接触,高速旋转时的稳定性高.分析该机构的运动学特性,对机构进行位置分析,计算机构的自由度,建立运动学反解方程,采用直接求导法,计算机构的速度、加速度.为了能够更加直观地观察计算结果,选择正弦函数作为末端变化函数,来观察各支链的运动轨迹以及速度加速度的变化.

英文摘要：

A new kind of coaxial hybrid mechanism is given which consists of a parallel mechanism and a hybrid one.Its feature is that the two rings are not contact directly,and it is stable during high-speed rotation.The kinematics of the mechanism is analyzed.The inverse displacement is analyzed.The degree of freedom is calculated.The inverse kinematics solution equations are established.The velocity and acceleration of the mechanism is calculated by direct derivation method.In order to observe the results more intuitive,the sine function is selected to be the end variation function to observe the trajectory of the branched chain and the change of velocity and acceleration.