针对目前远心运动(RCM)并联机构(PM)执行模式单一的问题，提出一类具有3R1T、2R1T和1R1T的多模式远心运动并联机构。首先提出一类具有转动中心可移动的运动特性的支链，并将其引入并联机构作为并联机构的支链，然后基于螺旋理论验证并联机构在求解自由度时支链转动中心的重要作用。其次提出多模式并联机构理论，并基于上述理论分别分析3R1T、2R1T和1R1T不同自由度的RCM并联机构，综合出满足多模式RCM并联机构的可行支链及支链装配要求。接着与具有转动中心可移动的运动特性的支链结合，从而提出一种具有3R1T、2R1T和1R1T的多模式RCM并联机构。进一步地根据所提出的多模式RCM并联机构，选择合适的多模式方式并验证了并联机构的运动模式，验证了多模式方式的有效性和正确性。所提出的具有多种自由度的RCM并联机构，具有在不需要重新装配的前提下，实现不同自由度的切换。

The existing remote center of motion (RCM) parallel mechanisms (PMs) can only have single-mode operation. To provide more modes, this paper designed a new family of RCM PMs with 3R1T，2R1T，and 1R1T modes. First, this paper proposed a class of side chains with a movable rotational center, and integrated it into the parallel mechanism as a branch of the parallel mechanism. Then, based on the screw theory, verified the influence of the branch rotation center of gravity in parallel mechanisms when determining degrees of freedom. Second, the theory of multi-mode parallel mechanisms is proposed. Based on this theory, for RCM parallel mechanisms with DOFs—3R1T, 2R1T, and 1R1T—separate targeted analyses are conducted. Meanwhile, the feasible branch chain configurations and essential assembly requirements for multi-mode RCM mechanisms are systematically and comprehensively deduced. Finally, by integrating a branch chain with movable rotational center properties, a multi-mode RCM parallel mechanism capable of achieving 3R1T, 2R1T, and 1R1T configurations is proposed. On this basis, targeted selection of multi-mode configurations is conducted for the proposed mechanism, and verification tests on its motion modes are carried out—results of which confirm the rationality and correctness of the multi-mode design concept. Notably, the developed multi-degree-of-freedom RCM parallel mechanism allows for switching between different degrees of freedom without the need for disassembly and reassembly of components, realizing continuous adjustment of motion performance while ensuring structural integrity and operational efficiency.