Abstract: A new kind of coaxial hybrid mechanism is given which consists of a parallel mechanism and a hybrid one. Its feature is that the two rings are not contact directly, and it is stable during high-speed rotation. The kinematics of the mechanism is analyzed. The inverse displacement is analyzed. The degree of freedom is calculated. The inverse kinematics solution equations are established. The velocity and acceleration of the mechanism is calculated by direct derivation method. In order to observe the results more intuitive, the sine function is selected to be the end variation function to observe the trajectory of the branched chain and the change of velocity and acceleration.

Key words: coaxial hybrid mechanism;degree of freedom;inverse displacement analysis;velocity and acceleration