本项目研究一类新型混联机构的构型综合、驱动链设计和动态控制问题。该机构不但能实现高速抓放，而且其末端执行器具有大的偏转角范围。这些不同于一般并联机构的特性使之可被用于解决生产线上某些工艺过程的高速大转角难点与需求。本项目首先基于机构运动类型的对称性提出大范围运动混联机构构型设计的解析延拓理论和方法；然后基于镜像对称理论设计机构转动自由度的远程解耦驱动方式；通过在线学习此类机构的模型不确定性，推导适合此类混联机构的自适应鲁棒控制方法。最后我们构造基于3自由度DELTA构型,2自由度全向腕以及电主轴的6自由度高速大偏转角混联机构样机，通过实验验证关于此类机构的构型综合、驱动设计和自适应控制理论，为其下一阶段工业应用奠定基础。

This project aims to study the design, remote actuation, and dynamic control for a new class of serial-parallel hybrid mechanisms. These mechanisms have not only high speed, but also large tilt angles. They can be used to solve difficulties arising in some automation processes where both high speed and large rotational range are needed. First, building on the symmetry of robot motion types we propose the theory of analytic extension for synthesizing hybrid mechanisms with the desired motion type in a large domain. Then we develop methods for remote homokinetic actuation of the rotational degrees of freedom of the robot based on the theory of mirror symmetry. We investigate adaptive robust control strategies for this class of hybrid robots through online learning of the model uncertainties of the robot. Finally we will build a prototype of a 6-DoF high speed large tilt-angle hybrid mechanism by integrating a 3-DoF DELTA, a 2-DoF omni-wrist, and a spindle axis. Experiments will be carried out to verify the developed theories, which paves the way for future applications in industries.