提出一种新型1PRRR/3PRRRR四自由度3T1R并联机构。基于这种并联机构，设计一种具有两个输出的3D打印并联机器人。该机器人机构对称布置的运动支链共用驱动，具有两个运动完全一致的末端执行器。分析这种新型并联机构的自由度，运动学反解，雅可比矩阵，耦合性及奇异性，有利于优化选择3D打印机器人机构的结构参数。最后对3D打印机器人机构进行运动学仿真试验。结果表明，该机构动平台具有较大的转动角度，3D打印机器人能够在倾斜角较大的平面上打印，为进一步实现设计的3D打印机器人的控制提供依据。

A new type of 1PRRR/3PRRRR 3T1R parallel mechanism with four degrees-of-freedom is proposed,and a double output 3D printing robot is designed based on this parallel mechanism. The robot mechanism,which has two end effectors with a completely common motion,has symmetrically arranged legs that shared a common actuator. Analyzing the degrees-of-freedom,inverse kinematics,Jacobian matrix,coupling and singularity of this new parallel mechanism have a great contribution to select the optimal parameters of this 3D printing robot mechanism. Finally,the kinematics simulation experiment of the 3D printing robot model is carried out. The results show that the moving platform of the proposed mechanism has large rotational angles,and the 3D printing robot has the ability to print on the plane with large angles,which provides foundation for controlling the designed 3D printing robot.