One kind of symmetrical parallel manipulators with two rotational and one translational degree of freedom was designed as the key part of rescue robots in coal mines.

• 并联机构具有模块化程度高、刚度重量比大、响应速度快以及适应性强等优点,本文选用一类两转动一平动并联机构作为矿井救灾机器人机械腿的核心部分。