In terms of above investigation, the dexterity analysis method was put forward, namely method based on Riemann manifold.The general analytic expression of hybrid robot dexterity was defined.

• 提出了混联机器人的灵活性分析方法，即基于位移流形（黎曼流形）的方法，并定义了混联机器人灵活度的通用解析表达式。