中文摘要：

通过对3-TPT并联机床的运动特性进行分析，得出了其运动学方程，由于并联结构的特点，其考虑杆件柔性的多体系统的运动特性难以用方程求解。因此，本文利用有限元分析软件ANSYS，建立了机床柔性杆件的有限元模型，然后利用多体动力学仿真软件ADAMS形成了机床的多体系统模型，对其进行了运动学仿真，得出了运动学仿真曲线，并分别将刚体和柔性体仿真结果进行对比。结果表明柔性多系统的运动较多刚体系统的运动更为平稳，其运动能更真实、准确地反映出并联机器人的实际运动特性。

英文摘要：

The kinematical equation of parallel machine tool was derived by analyzing the motion characteristic. The motion characteristic which considering the flexible link is hard to compute by equation due to the characteristic of parallel machine tool, so the finite element models of driven links of parallel machine tool were set up by using ANSYS software, and were transformed to ADAMS to form the multibody system of parallel machine tool. After carrying out the kinematics simulation, the simulation curves were got and the simulation results of rigid bodies were compared with flexible ones. The results show that the motion of flexible muhibody system is more stable than that of rigid one, and it can reflect actual motion characteristic of parallel machine tool.