目的 设计一种可调整包装件姿态的分拣、装箱的并联机器人构型。方法 使用位移流形理论综合具有2T1R运动模式的并联机构。用旋量理论分析这种新型机构在一般位形下运动模式的自由度特征，并分析其支链驱动副选取的可行性。结果 这种新型并联机构能实现具有转动轴线方向可变的2T1R运动模式。结论 该机构具有的运动模式与设计预期相符，可进行平面的移动和转动轴线变化的一维球面转动。复杂形状的产品在装箱、分拣时，可能需要调整产品的空间姿态，具有转动轴线可变的2T1R运动模式的并联机构，可在该工况下进行应用。

The work aims to design a parallel mechanism which is suitable for the sorting and packaging of the package required to adjust its attitude. In this paper, the parallel mechanism with 2T1R motion mode was synthesized based on the displacement manifold theory. The screw theory was used to analyze the DOF characteristics of the motion mode of this new mechanism in general configuration, and the feasibility of selecting the drive pair of its branched chain was analyzed. The new parallel mechanism could realize the 2T1R motion mode with variable rotation axis. The motion mode of the proposed mechanism is in line with the design expectation, and enables the mechanism to move in a plane and rotate with a variable rotation axis which forms a one-dimensional spherical surface. In packaging and sorting products with complex shape, it may be necessary to adjust the spatial attitude of the products. The parallel mechanism with 2T1R motion mode with variable rotation axis can be applied under this working condition.