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本文提出了一种以缩放机构为分支的新型六自由度空间并联机器人机构模型．文中讨论了它的自由度、机构学特点，并给出了它的位置反解方法及数值算例．
In this paper, a new type of six-DOF spatial parallel robot mechanism model which is based on scaling mechanism is proposed. In the paper, its degree of freedom and mechanism characteristics are discussed, and its position solution method and its numerical example are given.