混合驱动机构同时采用常速电机和伺服电机两种驱动形式，通过一类特殊满足常速驱动功能的可控机构进行耦合，使动平台输出端轨迹具备灵活多变的特点，理论上解决了高承载力与柔性化之间的矛盾，是现代机构学的重要分支之一。混合驱动机构能够弥补传统大功率刚性机器柔性不足和全柔性机器造价昂贵和功率不足的缺点，是介于现代化实时可控的全柔性机构和传统的刚性完全不可控机构之间的一种智能化机构。目前混合驱动机构的研究内容主要局限于平面二自由度和三自由度机构的运动学、动力学和控制以及应用方面；而在向空间机构拓展过程中受制于机构构型技术瓶颈，对于空间多自由度连杆式的混合驱动机构没有文献可供参考，空间混合驱动机构的研究没有取得突破性进展。混合驱动机构有其独特的优越性，特别适合少自由度，满足一定柔性需求的生产线、工厂、医疗康复领域，将混合驱动机构的研究领域从平面机构拓宽到空间机构是具有重要的理论意义和实用价值。 本文基于混合驱动理论，分析了前人研究的构型停留在平面构型的原因，结合冗余驱动并联机构构型特点，通过混合冗余驱动支链将两类机构有机集成起来，形成一类新的混合冗余驱动机构(HRDM)。文中对这种新型机构进行了基础理论研究，以新型空间三自由度HRDM构型3-PSS／6R为研究对象，对机构实现给定轨迹的运动学基础、静力学和结构刚度、轨迹规划、动力学模型、控制策略、以及实验和控制系统进行探索性研究。本文主要内容如下： (1)提出了一类可重构的混合冗余驱动机构，这类机构自由度由中间混合冗余驱动支链(HRDL)决定，在工作状况下此支链为机构的主要受力部件，由常速电机和伺服电机共同驱动，其中常速电机是整个机构的主要动力来源，伺服电机通过实时调整输入力矩对动平台的轨迹精确补偿。 (2)分析了3-PSS／6R HRDM的自由度，建立了运动学模型，并对其工作空间进行了分析，得出工作空间图谱；运用ADAMS软件验证了运动学模型的正确性，驱动电机运行平稳，其机构运动可控。 (3)基于虚位移原理，建立HRDM静力平衡方程，得到机构输入驱动和广义力之间的关系。HRDM支链较一般机构多，考虑重力对机构的静力分析的影响不可忽略。因此，将各机构构件和运动副的重力因素重新考虑到静力分析中，建立新的静平衡方程。采用拆杆法将HRDM机构中的杆件从运动副处拆开，结合虚功原理，分析各个运动副的受力情况。 (4)机构的刚度好坏，直接决定机构的动态性能的好坏，是机构进行运动学分析的基础。建立机构刚度模型，运用有限元法对机构的刚度进行验证。通过有限元分析得到机构的振动特性、应力和变形情况，得到HRDM结构中存在的薄弱环节，为机构的结构设计提供理论支撑。 (5)运用拉格朗日法建立了3-PSS／6R机构的动力学模型。通过动力学分析得到中间HRDL支链不仅能够提高机构的刚度，还是机构的主要动力来源，相比对称支链，中间支链承担了整个动力源的大部分，设计中要考虑增加中间支链的强度，其余对称分布的支链承受的力非常小可以用较小功率的伺服电机驱动。HRDL支链一个电机为不可控的常速电机，周而复始的运动，在工作周期内，提供主要的动力，通过优化伺服电机的驱动力矩能够明显降低对称支链的力。因此，HRDM机构有其独特性，其性能可通过控制方法对其优化。 (6)针对文中提出的一类n-DOF混合冗余驱动并联机构，在可重构理论基础上，从实验需求出发，提出了一种模块化可重构的开放式控制系统架构。以文中研究的3-PSS／6R为例，提出了基于神经网络补偿的反馈线性化控制策略。最后，通过实验验证该机构的轨迹可控。 关键词：混合冗余驱动机构(HRDM)，运动学，静力学，动力学，刚度，控制系统

 Hybrid driving mechanism can realize flexible trajectory at the output of moving platform, which adopts two kinds of driving modes at the same time, i.e. constant speed motor and servo motor. Hybrid driving mechanism has solved the contradiction between high bearing capacity and flexibility theoretically, which is one of the main branches of modern mechanisms. Hybrid driving mechanism can make up for the shortcoming of less flexibility of traditional high-power rigid machines and the high cost and insufficient power of fully flexible mechanism. It is an intelligent mechanism between modern real-time controllable fully flexible mechanism and traditional rigid completely uncontrollable mechanism. At present, the research content of the mechanism is mainly about the kinematics, dynamics, control system and its applications. At the same time, the configuration studied is limited to 2-DOF or 3-DOF planar mechanism of five-bar or seven-bar. However, it is subject to the technical bottleneck of lacking of newly spatial mechanism configuration, which cannot expand to the space area. Currently, there is no literature on the spatial multi-DOF linkage hybrid driving mechanism for reference, and the research work of the spatial hybrid driving mechanism is stagnant. The hybrid driving mechanism has its unique advantages is suited to the fields, which demand of certain flexibility such as production line, factory and medical rehabilitation fields. Therefore, the study of hybrid driving spatial mechanism has important theoretical significance and practical value. Based on the theory of hybrid driving mechanisms, the paper analyzes the reason why the configuration studied stays in the plane area in present. A new type of reconfigurable mechnism named HRDM is proposed, which integrate the characteristics of hybrid driving mechanism and redundant driving mechanism together, through a limb called the hybrid redundant drive limb (HRDL for short). A systematic theoretical stud) of this new mechanism is carried out in this paper. A novel 3-DOF HRDM mechanism as 3-PSS/6R was studied, about the kinematics foundation, trajectory planning, dynamic model, control strategy, experiment and control system are studied. The main content of this paper is as follows. (1)A kind of reconfigurable hybrid redundant driving mechanism(HRDM for short) is proposed. The freedom of the kind of mechanism is determined by the intermediate limb called HRDL, which is the key subassembly under force of the whole mechanism under the working condition.The HRDL is driven by both the constant speed motor and the servo motor, among which the constant speed motor is the main power source of the whole mechanism. The servo motor accurately compensates the trajectory of the moving platform by adjusting the input torque. (2)The degrees of freedom of 3-PSS/6R HRDM is analyzed, and the kinematics model is established. Based on the model, the workspace of 3-PSS/6R is analyzed, and the atlas of workspace is obtained. The correctness of the kinematics model is verified using ADAMS software. The driving motor runs smoothly and the movement of the mechanism is controllable. (3)Based on the principle of virtual displacement, the static balance equation of the HRDM is established, and the relation between input drive and generalized force is obtained. Considering the influence of gravity on the static force of the mechanism, a new static equilibrium equation is established by considering the influence of gravity of each component on the static force of the mechanism. The links are disassembled from the kinematic pairs using disassembling link method, and the forces of each kinematic pair are analyzed using virtual work principle. (4)The stiffness of the mechanism directly determines the dynamic performance of the mechanism, and it is the basis of kinematics analysis of the mechanism. The stiffness model of the mechanism is established and verified using finite element method. The vibration characteristics, vibration mode, strain and deformation of the mechanism are obtained. The weak links existing in HRDM structure are obtained, which provide theoretical support for the structure designing of the type mechanism. (5)The dynamic model of the mechanism is established using Lagrange method. The HRDL can not only increase the stiffness of mechanism, but also provide the main source of power for the moving platform. In the designing structure of the mechanism, the strength of HRDL should be increased. While the rest limbs can drived by small power servo motor, which beared a very small force. The HRDL is drived by an uncontrollable constant speed motor, which provides the main power with repeated movement. By optimizing the driving torque of the servo motor, it can obviously reduce the force of the symmetrical branched-chain. Therefore, HRDM mechanism can be optimized by controlling method. (6)A modular reconfigurable open control system architecture is proposed to meet the requirements of experimental for a type of n-DOF HRDM based on the reconfigurable theory. Then, a feedback linearization control strategy based on neural network compensation is proposed, as a control system of the 3-PSS/6R mechanism. Finally, the trajectory of the mechanism is verified by experiments. Keywords: Hybrid redundant driving mechanism (HRDM), Kinematics, Statics, Dynamics, Stiffness, Control system