目的 多模式机器人具有智能型可重构和变结构特性的能力，能够主动或被动适应多变的环境，设计一种能够在包装工程领域应用的多运动模式并联机构。方法 从螺旋理论出发，通过研究线矢量与偶量在不同几何空间中的相关性，得出在一定条件下约束力可以转化为法向约束力偶，为并联机构实现多模式运动提供了理论支撑。结果 通过3-(RRR)E(RR)S并联机构变形，得出该机构的具有3R、2T1R和2R1T等3种运动模式，在各种运动模式下的自由度均为3，具有全周性。结论 基于3-(RRR)E(RR)S并联机构，通过变化支链约束力线矢空间位置关系来改变机构的约束条件，使该并联机构能够实现3R、2T1R和2R1T多模式运动，满足物流分拣、抓放定位、产品空间姿态调整等需求。

The multi-mode robot has the characteristics of intelligent reconfigurable and variable structure, and can actively or passively adapt to the changing environment. The work aims to design a multi-motion mode parallel mechanism that can be applied in the field of packaging engineering. Based on the screw theory, by studying the correlation between the line vector and the couple in different geometric spaces, it was concluded that the constraint force could be transformed into the normal constraint couple under certain conditions, which provided theoretical support for the parallel mechanism to realize multi-mode motion. Through the deformation of the 3-(RRR)E(RR)S parallel mechanism, it was concluded that the mechanism had three motion modes of 3R, 2T1R and 2R1T, and the degree of freedom was 3 in each motion mode, with full-cycle mobility. Based on the 3-(RRR)E(RR)S parallel mechanism, the constraint conditions of the mechanism are changed by changing the spatial position relationship of the branch constraint force line vector, so that the parallel mechanism can realize 3R, 2T1R and 2R1T multi-mode motion. It meets the needs of logistics sorting, grasping and positioning, product space attitude adjustment, etc.