构造了多种包含二平移一转动(2T1R)运动输出的混合链结构,基于有序单开链单元原理,综合出10种新型2T1R型空间并联机器人机构。机构的主动副均直接安装在静平台或接近静平台处,以利于减小机构的运动惯性。分析了各个机构基本特征,如主动副配置、耦合度和运动输入-输出控制解耦性,为机型的优选提供了一定的依据。 A variety of hybrid chain structures with two translational and one rotational (2T1R) kinematic outputs are constructed. Based on the principle of ordered single open chain elements, 10 new types of parallel 2T1R space robot structures are synthesized. The agency’s deputy deputy are directly installed in the static platform or close to the static platform, in order to facilitate the reduction of institutional inertia. The basic characteristics of each mechanism such as the active secondary configuration, the coupling degree and the decoupling of the motion input-output control are analyzed, which provides a basis for the optimization of the model.