两移动三转动混联机构型综合

基于GF集理论提出一种系统有效的串联、并联混联机构型综合方法。首先介绍GF集的基本概念、运算法则，以及转动特征存在条件。然后通过分析混联机构结构的组成特点，基于GF集元素组合和转动轴线迁移定理，提出了设计混联机构型综合方法，根据机构的拓扑结构和结构参数之间的关系，建立了混联机构数综合方程，给出了混联机构型综合的具体步骤。之后根据混联机构型综合理论，完成了具有2T3R混联机构运动特征的构型设计，得到了大量新构型。最后，针对综合出的一种2T3R混联机构，通过混联机构末端分析方法，验证了所设计出混联机构的运动特征，从而证明了构型综合方法的正确性。

Type Synthesis of Two-translational and Three-rotational Hybrid Mechanisms

A systematic and effective type synthesis method which was suit for serial and parallel as well as hybrid mechanism was proposed based on GF  set. The basic concept of GF set, algorithms and the type synthesis principles, requirements for rotation were introduced based on GF set firstly. Secondly, an approach to synthesize of hybrid mechanism was presented by analyzing the characteristics of structure composition. The topological arrangements of hybrid mechanisms might be developed by the elements of GF set combination and rotation axis transfer theorem. According to the relationships among dimensions of end-effector characteristics and structural parameters of mechanisms the number synthesis formulas was set up. Specific process for structural synthesis of HMs was finished. Simultaneously, a lot of new mechanisms were attained. According to the proposed approach, 2T3R 5-DOF hybrid mechanism with determined kinematic characteristic was enumerated. Meanwhile, a method was proposed to analyze kinematic characteristic of hybrid mechanisms synthesized above. Finally, a novel hybrid mechanism was synthesized to demonstrate the applicability of the novel method of structural synthesis for hybrid mechanisms.