混合输入五杆机构是最简单的平面并联机器人。
Hybrid input five bar mechanism is the simplest planar parallel robot.
本文以两曲柄分别为连架杆和连杆的一类混合输入五杆机构作为研究对象，围绕此机构对混合驱动可控机构的结构学、运动学和优化综合问题进行了研究。
Under the condition of no singular position and satisfying requirement of hybrid drive, it analyzes the boundary curve construction and feature of the three types of hybrid input five bar mechanism.
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