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提出一种由三个四面体和一个八面体并联组成的新型变几何桁架机器人的机构，并对其进行了结构和位置分析，推导出直接位置和间接位置的显式解析解，为该机构的运动学和动力学分析打下了基础．结果表明，这种机构在位置分析中具有计算简单、计算精度高的特点，可以满足机器人机构实时控制的需要．
A new type of geometry-varying truss robot composed of three tetrahedrons and one octahedron is proposed. Its structure and position are analyzed. An explicit analytical solution of direct and indirect positions is deduced. Kinematics and dynamics analysis laid the foundation. The results show that this kind of mechanism has the characteristics of simple calculation and high precision in position analysis, which can meet the need of real-time control of robot mechanism.