To fully disclose potential configurations of parallel mechanisms (PMs) that are performance-comparable to the commercially successful Exechon, a family of one translational two rotational (1T2R) over-constrained Exechon inspired PMs is synthesized through the screw theory. The synthesized PMs are further comparatively analyzed in terms of inverse kinematics, singularity occurrence and reachable workspace based on a unified kinematic model. The kinematic analyses indicate that the inherited overconstraints benefit for eliminating the constraint singularity of all synthesized Exechon inspired PMs and the workspace distribution of an Exechon inspired PM is closely related to its topological arrangement. Based on the kinematic evaluations, a preferred configuration of 2UPR-1RPS PM (‘R’: revolute joint, ‘U’: universal joint, ‘S’: spherical joint, ‘P’: prismatic actuated joint) is selected as a candidate for 1T2R spindle head. A laboratory prototype is fabricated and experimentally tested to verify the feasibility of the type synthesis and the correctness of the kinematic analyses. By integrating the selected PM with a 2-degree of freedom sliding gantry, a full scale prototype of a novel hybrid kinematic machine tool is developed to perform 5-axis machining tasks. The well match between the machined workpiece and its designed shape fully proves the engineering potential of the synthesized PMs that are expected to be employed as the functional module to construct 5-axis serial-parallel hybrid machining devices.

为了充分揭示与商业上成功的Exechon性能相当的并联机构（PM）的潜在配置，通过螺丝理论合成了一个平移的两个旋转（1T2R）过度约束的Exechon启发式PM。基于统一的运动学模型，从逆运动学，奇异发生和可到达的工作空间方面对合成的PM进行了进一步的比较分析。运动学分析表明，继承的过度约束有利于消除所有合成的Exechon启发式PM的约束奇异性，并且Exechon启发式PM的工作空间分布与其拓扑结构紧密相关。根据运动学评估，选择2U P R-1R P的首选配置选择S PM（“ R”：旋转关节，“ U”：万向节，“ S”：球面关节，“ P ”：棱柱形驱动关节）作为1T2R主轴头的候选。制作了实验室原型并进行了实验测试，以验证类型综合的可行性和运动学分析的正确性。通过将选定的PM与2自由度滑动龙门集成在一起，开发了新型混合运动机床的完整原型，以执行5轴加工任务。加工后的工件与其设计形状之间的良好匹配充分证明了合成的PM的工程潜力，这些PM有望用作构建5轴串并联混合加工设备的功能模块。