机构构型是决定机械装备性能的先天条件，机构型综合是机构学领域极具生命力的课题。为丰富机构种类，为机械装备提供更多的构型选择，本项目定义机构组成有别于串联、并联及串并混联机构的一类机构为并联驱动机构，并构建其系统的型综合理论和性能评价指标体系。首先，以图论为基础，对并联驱动机构中的执行机构进行拓扑结构分析与设计，并基于螺旋理论对其进行可控性分析，确定其运动输入点及输入运动。然后，深入研究并联驱动机构中执行机构、驱动机构和连接关节三者之间的运动匹配规律，提炼具有普适性的运动匹配准则，建立并联驱动机构型综合理论。最后，研究执行机构和驱动机构的各项性能，并分析二者性能之间的相互影响，建立物理意义明确且可精确反映机构性能的评价指标体系，对综合出的机构进行优选以获得多种具有较高实用价值的并联驱动机构。本项目的开展对推动并联驱动机构的工程化应用，丰富机构学理论体系意义重大。

Mechanism configuration is an innate condition to determine the performance of the mechanical equipment. The type synthesis is a vital subject in the field of mechanism. One kind of mechanism that is different from series, parallel and hybrid mechanisms is defined as parallel driving mechanism in this project in order to enrich the types of mechanisms and provide more configurations for mechanical equipment. The systematic type synthesis theory and performance evaluation index framework of parallel driving mechanism are established. Firstly, based on the graph theory, the topological structure of the passive actuator in the parallel driving mechanism is analyzed and designed. The controllability analysis about the passive actuator is carried out and the motion input point and input motion are determined based on the screw theory. Then, the motion matching rules for the passive actuator, the driving mechanism and the connecting joints in the parallel driving mechanism are studied deeply. The universal motion matching criterion is abstracted, and the type synthesis theory of parallel driving mechanism is established. Lastly, the performance of passive actuator and driving mechanism is studied, respectively. Moreover, the interaction between these two performances is analyzed. The evaluation indices with clear physical meaning and ability to accurately reflect the performance of mechanism are established. According to the evaluation indices, the parallel driving mechanism with high practical value is optimized in all integrated mechanism. This project is of great significance to promote the engineering application of parallel driving mechanism and enrich the theoretical system of mechanism.