中文摘要：

介绍了1种基于并联机构的空间一平移二转动的三自由度运动平台,该运动平台是以相互垂直分布的（P-R-C）、（C-R-C-R）支链与1条（P-H）支链通过并联组合而成。通过计算,得出了该机构的自由度以及运动学正、反解的理论表达式。利用PRO/E对机构进行建模,通过Mech/Pro模块导入ADAMS/View模块中进行仿真。分别在机构的移动副和动平台上施加运动,通过计算机模拟,分别得到该运动平台以及三条运动支链随时间变化的轨迹,并与使用MATLAB软件进行的理论计算结果进行对比,结果显示得到的位置曲线完全相同,证明了该平台位置运动的正确性。

英文摘要：

This paper describes a kind of 1T-2R motion platform based on parallel mechanism;the platform is combined the vertically distributed branches of（P-R-C） and（C-R-C-R） with and a（P-H） branch.The freedom of the mechanism and the theory expression of positive and inverse solutions by theoretical calculation is got.The mechanism was modeled by Pro/E,and the model was imported with Mech/Pro to ADAMS/View for simulation.The trajectory of exerting force on the three kinematic chains and the moving platform that changes over time is obtained through computer simulation.The simulation results was compared with the theoretical calculation results gotten through MATLAB.The comparison proved that the curve of position was identical,and it testified the correctness of the movement of the platform.