中文摘要：

研究一种3-RRRT新型高速并联机器人的运动学及动力学建模及分析方法。采用D-H法建立了各构件体坐标系，以此为基础，建立了3-RRRT并联机器人运动学模型，并给出了其位置解析解；基于牛顿欧拉递推动力学方法进行了系统动力学模型构建，并利用MATLAB进行运动学和动力学数值仿真，得出了系统实现既定轨迹跟踪所需的驱动力矩，并对结果进行了分析。该建模方法的优点是计算量小，并可求得杆件的受力情况，便于实时控制，可为3-RRRT并联机器人的研究提供分析数据，进而为改进其控制策略提供参考和依据。

英文摘要：

A method for kinematic and dynamic modeling 3-RRRT high-speed parallel robots to analyze them was studied. The coordinate systems for each component were established with the D-H method, and then, the kinematic equations were derived and their closed-form solutions are obtained. By using the iterative Newton-Euler method, the dynamic model for 3-RRRT parallel robots was established, and the numerical simulation in kinematics and dynamics was completed by using the MATLAB. Finally, the driving moment for system trucking was obatained. This modeling method can greatly improve the computational efficiency and easily analyze each type of force to make the real-time control facilitated.