中文摘要：

并串联机构相对纯并联机构能够增大工作空间,同时能够增加动平台的灵活性。以2（3-RPS）并串运动平台为例,给出了并串运动平台的力雅克比矩阵的推导方法以及发生奇异的条件。首先,基于螺旋理论,分析了上下3-RPS并联机构支链的运动螺旋系和约束反螺旋;然后运用互易积理论,得到了2（3-RPS）并串运动平台的完整运动雅克比矩阵,在此基础上,建立了该机构的静力平衡方程和力雅克比矩阵,发现该矩阵是由2个3-RPS并联机构运动雅克比矩阵的转置而联立组成的6×12矩阵。最后,通过分析力雅克比矩阵是否降秩,具体分析了2（3-RPS）并串运动平台的约束奇异、运动奇异以及混合奇异位形。

英文摘要：

Compared to the pure parallel manipulator,the working space of the parallelserial motion platform can be increased and so as the flexibility of the moving platform. Therefor,its application foreground is broad. Taken 2 （3-RPS） parallel-serial motion platform as an example,a method for deducing the static Jacobian matrix and conditions for singularity of parallel-serial mechanism are illustrated. Firstly, the moving screw system and the constraint anti-screw of the chains of the the upper and lower 3-RPS parallel mechanism are analyzed base on screw theory, and then, their complete Jacobian matrix are obtained by the theory of reciprocal screw. Base on what has been done, the static equilibrium equations and the Jacobian matrix of the manipulator are established, and the static Jacobian matrix is a six by twelve matrix,which consists of the transpose Jacobian matrix of the upper and lower 3-RPS parallel mechanism. At last, the constraint, moving and hybrid singular configuration are detailed analyzed by investigating the ranks of the static Jacobian matrix.