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作为闭环机构用于机器人机构的实例，本文详细讨论了缩放式机械手机构的运动综合问题，给出了这种机构的函数型和轨迹型的综合方程，为其结构参数设计提供了理论依据。
As an example of a closed-loop mechanism used in robot mechanism, this paper discusses in detail the motion synthesis problem of the zooming robot mechanism, and gives the comprehensive equations of the function type and the trajectory type of this mechanism, which provides a theoretical basis for the structural parameter design.