3T1R新型并联机器人采用了环路支链这种特殊的结构设计,因此采用常规的几何学分析具有其局限性和复杂性。本文采用了环路螺旋理论对其支链结构进行分析和总结,从而提出设计环路支链的新的方法,并在此基础上设计出具有环路支链的3R1T并联机器人,为具有环路支链并联机器人的设计提供了一条新的研究途径。 The new 3T1R parallel robot employs the special structural design of loop branches, so its use of conventional geometric analysis has its limitations and complexities. In this paper, the theory of loop helix is ​​used to analyze and summarize the branch structure, so a new method of designing branch loop is proposed. Based on this, a 3R1T parallel robot with loop branch is designed. The design of branched parallel robots provides a new approach to research.