中文摘要：

通过改变3-SPR并联机构的运动副布置，得到了10种典型的3-SPR并联机构，分析了它们的位置特性。采用CAD尺寸驱动技术求解了机构的工作空间，定义了描述工作空间及动平台姿态变化的参数，对10种机构的工作空间及姿态变化范围进行了比较，分析了运动副布置对于3-SPR并联机构工作空间及姿态变化的影响。

英文摘要：

Through varying the joints＇ distribution, 10 typical 3-SPR parallel manipulators were derived and their displacement character was analyzed. CAD dimension driving technique was used to solve the workspace, and parameters to describe the workspace and orientation of the moving platform were defined. Workspaces and orientation scales of the 10 manipulators were compared, the influence of the joints＇ distribution to which was analyzed.