中文摘要：

3-RPS型并联机构具有三个结构对称的支链形式,各支链由一个转动副连接机座、一个球面副与动平台相连接,转动副与球面副由移动副所连接。采用螺旋理论及空间机构构型原理,通过约束形式分析得出该类型并联机器人运动性质,采用矢量分析方法对其运动学正解/反解进行求解,得出该并联机构运动学方程。基于对称非齐次性少自由度并联机构Jacobine矩阵,进一步对该类型并联机器人结构奇异性进行分析与总结。

英文摘要：

3-RPS type parallel mechanism is of three limbs symmetrical in structure in which each is connected with the base through a revolute pair and a spherical pair is connected with moving platform,While the revolute pair is connected with the spherical pair through a moving pair.Screw theory and spatial mechanism structure theory are adopted to derive the characteristic of motion of the robot through constraints.By applying vector analysis method the normal/inverse solution of this mechanism can be derived respectively to obtain a kinematical equation for the mechanism.Furthermore,the kinematic singularities for the structure of the robot are analyzed based on Jacobine matrix of the mechanism symmetrical with inhomogeneity and imperfect DOF.