为了提高飞机壁板装配自动钻铆的质量和效率，研究了一种含有冗余自由度和 串并混联结构形式的自动钻铆机统一运动学模型及其正反解问题． 通过坐标定义的等效 变换法，将自动钻铆机并联部分的动静平台等效倒置，基于虚设支链法和 D-H 方法建立 了自动钻铆机串并形式的闭链运动学模型，在此基础上获得运动学位置正解的解析解;针 对自动钻铆机具有冗余自由度和混联结构形式的特点，提出运动学逆解分步求解的解耦 策略． 实例计算表明，自动钻铆机实际位姿与给定目标位姿之间的位置平均误差和法向平 均误差分别为0． 13191mm 和0． 16842°，说明文中方法是正确的和有效的． 

A unified kinematic model and forward and reverse solution problem of automatic drilling riveting machine with redundant degrees of freedom and serial-parallel structure was studied，in order to improve the quality and efficiency of automatic drilling and riveting for aircraft panel assembly． Based on the equivalent transformation method defined by the coordinates，the moving platform and static platform of the parallel part were equivalently inverted． And based on the virtual branching method and the D-H method，the closed-chain kinematic model of the automatic drilling riveting machine was established． Thus the analytical solution of the positive solution of the kinematic position was obtained． According to the characteristics that the automatic drilling riveting machine owns redundant degrees of freedom and hybrid structure，the‘step-bystep’decoupling strategy of the kinematic inverse solution was proposed． Finally，the case study shows that the position average error and the normal average error between the actual pose and the target pose of the automatic riveting machine are 0. 13191mm and 0. 16842°，respectively，which verified the correctness of the method．