The direct and the inverse solutions,singularities and isotropy of the mechanism were investigated respectively in terms of different actuated inputs,i.

• 利用螺旋理论对机构的自由度进行了分析和计算,研究了分别以圆柱副中的转动和线性移动作为主动输入的机构的运动学正逆解、奇异性和各向同性。