本文讨论了一种多杆并联式空间机构的结构特点、自由度和连接度;阐述了此种机构的数学模型和控制方法及其应用场合。文中还分析了此种机构的安装模式和特殊机构位置等问题。 In this paper, the structural features, degrees of freedom and connection degree of a multi-bar parallel space mechanism are discussed. The mathematical models and control methods of such mechanisms and their applications are discussed. The article also analyzes the installation of such institutions and special agencies such as the location of the issue.