中文摘要：

基于并联机构单开链拓扑结构的型综合方法,系统地阐述了输出运动为二移动一转动并联机构的拓扑结构型综合方法,并综合出了静平台上以三个转动副或移动副为主驱动,且输出运动具有部分解耦特性的8种二移动一转动的并联机构。以及提出了将单开链支路分为简单单开链支路、复杂单开链支路以及混合单开链支路的新概念。基于基本回路的对称性、机构耦合度、控制解耦性等拓扑特性,对所综合出的8种二移动一转动的并联机构进行了分类。最后依据不同的设计要求,推荐优选不同的结构类型。

英文摘要：

Based on the topology synthesis method of a parallel manipulator,an effective structure synthesis methodology for a 3DOF（2T1R） parallel manipulator is proposed.Eight types of a 3DOF（2T1R） partially decoupling parallel manipulator,whose three actuators are arranged on its frame platform,are obtained by using the illustrated structure synthesis.Then,a novel concept,where the units of single-opened-chain climb can be classified into SSOC（simple single-opened-chain）,CSOC（complex single-opened-chain） and HSOC（hybrid single-opened-chain）,is put forward.Based on their topological characteristics,such as topological symmetry,the degree of coupling,and the control decoupling,the eight types of 3DOF（2T1R） parallel manipulators are classified.In the end,the optimal structure type in these parallel manipulators is recommended according to different design requirements.