中文摘要：

通过空间剪叉机构与旋转机构的运动特征分析，组合二者提出了一种新型的旋转伸缩机构，并阐述了其工作原理与驱动原理。根据空间剪叉机构的运动特点，采用坐标变换方法，分析了杆件节点的运动变换关系，建立了该旋转伸缩机构展开过程运动学模型。通过计算，可得到展开过程中结构上节点位置、速度和加速度的变化规律。研究结果为其动力学研究和机构运动控制提供了理论指导和技术支持。

英文摘要：

A new rotational and expansive nechanism is presented according to studying the kinematics characteristics of the space scissorc mechanism and the rotational mechanism. The operation principle and driving principle of the mechanism is introduced and the kinematics characteristics of space scissors mechanism is analyzed. Using the method of coordinate transformation, the general kinematics model for the expanding process of this rotational and ex- pansive mechanism is established. The model can be applied to obtaining the position, velocity and acceleration of mian nodes on the scissorc structure. The research results provide the theoretic guidance and technical support for the calculation of dynamics and position control.