In this paper, a novel 6-degrees-of-freedom (DOF) hybrid mechanism is proposed to realize position and posture adjusting for large-volume equipment. The designed hybrid manipulator is composed of the lower and upper modules, namely, a 3-DOF redundant spatial parallel mechanism (SPM) and a 3-DOF planar parallel mechanism (PPM), which has three rotational and three translational DOFs. According to the step-by-step pose adjusting strategy, the kinematics analyses of the lower and upper modules have been carried out systematically. For the whole hybrid mechanism, a complete kinematic model has been established; and visualized workspace of the kinematic model with regular shape and large volume demonstrates profound application prospects in engineering. In order to evaluate the performance of the proposed mechanism, experimental tests have been conducted in an automated docking system for pose adjustment of large and heavy components. The analysis results demonstrate the effectiveness and practicability of the new mechanism.

在本文中，提出了一种新颖的 6 自由度 (DOF) 混合机构来实现大容量设备的位置和姿态调整。所设计的混合机械手由上下两个模块组成，即一个三自由度冗余空间并联机构（SPM）和一个具有三个旋转自由度和三个平移自由度的三自由度平面并联机构（PPM）。根据逐步姿态调整策略，系统地进行了上下模块的运动学分析。对于整个混合机构，建立了完整的运动学模型；形状规则、体积大的运动学模型的可视化工作空间在工程中具有深远的应用前景。为了评估所提出的机制的性能，在自动对接系统中进行了实验测试，用于调整大型和重型部件的姿态。分析结果证明了新机制的有效性和实用性。