介绍了一种由圆柱副、圆柱副和球面副组成的点、线约束的新型并联机构6-CCS，对其进行了结构分析，给出了运动学逆解方程。
A new parallel mechanism 6-CCS which is composed of cylinder and spherical joints is described in this paper. Configurable analysis and inverse kinematic equations are given.
介绍了一种由圆柱副、圆柱副和球面副组成的点、线约束的新型并联机构6-CCS，对其进行了结构分析，给出了运动学逆解方程。
A new parallel mechanism 6-CCS which is composed of cylinder and spherical joints is described in this paper. Configurable analysis and inverse kinematic equations are given.
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