中文摘要：

针对多自由的并联机构各杆之间存在运动耦合、实时控制困难，工作空间较小等缺点，本文基于人体手臂运动的特点，通过对典型少自由度并联结构的研究，提出了一种并一串仿人工业机器人结构，即一种将2个少自由度并联机构串联一起的工业机器人结构，分析了该机构的组成特征和运动特点，进行了两级并联机构平台的运动学位姿求解，并对两级结构的工作空间进行分析。研究结果表明，该机构精度高，承载能力强，运动灵活，工作空间大及较好的工作姿态等，特别适用于狭小地域空间和姿态能力要求较高的场所。该研究为工业机器人构型提供了一种新方法，为并一串结构的研究提供了理论基础。

英文摘要：

For the couplings of motion, real-time control difficulty and small working range problems between levels of multi-degree-of freedom parallel mechanism, in this paper a humanoid parallel-series industrial robot mechanisma structure that connects two less-degree-of-freedom parallel mechanisms, is presented based on the movement characteristic of human arms and researches on the typical less-degree-of-freedom mechanism. The characteristics of its composition and movement were analyzed; the solution of the kinematics posture of its platform was made; and the analysis of its working range was also presented. The study showed that this mechanism has features of high precision, high bearing capacity , flexible movement capability as well as wide working range and good working posture. The mechanism is applica- ble especially in circumstances of requiring high posture ability and in narrow working space. The research not only presented a novel method in robot constructive building, but also provided some basic theories on the study of parallel-series mechanism.