根据搬运机器人的性能要求，设计出它的机械结构，然后对其进行动力学分析，计算出实现给定运动所需要的驱动力和力矩。
The paper mainly studies the parallel mechanism, whole scheme design of the robot, kinematics solution of the parallel mechanism and so on, aiming at the hybrid carrying robot.
根据搬运机器人的性能要求，设计出它的机械结构，然后对其进行动力学分析，计算出实现给定运动所需要的驱动力和力矩。
The paper mainly studies the parallel mechanism, whole scheme design of the robot, kinematics solution of the parallel mechanism and so on, aiming at the hybrid carrying robot.
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