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中文摘要：
系统地研究了3-RRS并联机构的位置正反解问题。首先应用螺旋理论对该机构进行自由度分析。利用代数消元法从3个约束方程中消去多余的未知数，以得到单参数的多项式，并结合MATLAB软件编程求解。实际算例求出了3-RRS并联机构的全部8组实数反解和全部8组实数正解，并绘制出了8组位置正解构型图。该机构位置分析的方法具有较强的通用性。
英文摘要：
The solutions of forward kinematics and inverse kinematics for 3-RRS parallel mechanism is studied. Firstly, Screw theory is used for the DOF analysis of freedom of this mechanism. In order to obtain the polynomial of the single parameter, algebraic elimination method and MATLAB software programming is used to eliminate the redundant unknowns of 3 constraint equations. The examples show that both the forward kinemcties and the inverse kinematics of the 3-RRS parallel mechanicsm have 8 sets of the real numbers and 8 sets of and 8 sets of forward kinematics are plotted. The method of position analysis of the mechanism has good generality.
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