以方位特征集的理论,针对三平移一转动的并联机器人机构进行了结构综合。该方法不同于螺旋理论和位移子群的方法,它的主要特征有(1)得到非瞬时机构(2)数学方法比较简单等。基于该方法得到40余种机构,包括一些以前设计出的机型和部分新机型,并对它们进行了分析和分类。 Based on the theory of azimuth feature set, the structure synthesis of a parallel robot mechanism with three translations and one rotation is carried out. This method is different from the spiral theory and the method of displacing subgroups. Its main features are as follows: (1) The mathematical method of obtaining non-instantaneous mechanism (2) is simpler and so on. Based on this method, more than 40 institutions, including some previously designed models and some new models, were obtained and analyzed and classified.