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.
采用这一模型设计，可以获得球面配流副的最佳结构参数，实现力和力矩平衡，并可大大缩短设计周期。
Applying this model to practical design, the optimal structure parameters of the pair can be acquired with the good balancing of forces and moments and the design cycle can be decreased greatly.
在球面连杆机构中，所有的转动副的轴必在一点上相交。
In spheric linkages, the axes of all revolute pairs must intersect at point.
在球面连杆机构中，所有的转动副的轴必在一点上相交。
In spheric linkages, the axes of all revolute pairs must intersect at point.
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