【摘要】 提出一种混合型４自由度并联平台机构，该机构的动平台能够实现两个方向的移动以及绕两个方向轴线的转动。研究了该机构的运动学建模方法，给出了运动学正、逆解。基于本文所提出的４自由度并联机构已成功地研制出一台五坐标并联机床。更多还原

【Abstract】 A novel 4 degrees of freedom hybrid parallel platform manipulator is presented. The movable platform of the manipulator can translate along two directions respectively and rotate around two axes respectively. The kinematics model is formulated, which describes the inverse kinematics and forward kinematics. A 5-axis parallel machine tool is developed based on the 4-DOF parallel manipulator presented.更多还原