中文摘要：

提出了能实现三维转动和二维移动的4-UPS-RPS空间5自由度并联机构,并对该机构进行了运动学分析。4-UPS-RPS并联机构包含5条分支,其中4条分支为U-P-S（虎克铰-移动副-球副）型结构,1条分支为R-P-S（转动副-移动副-球铰）型结构。建立了该机构的位置反解数学模型,推导出了该机构的速度雅可比矩阵和加速度分析表达式,求解了该机构的位置反解、速度和加速度,并采用ADAMS软件对机构的运动学进行模拟仿真,仿真结果表明理论分析结果完全正确,为该并联机构的实际应用奠定了理论依据。

英文摘要：

A 4-UPS-RPS spatial 5-DOF parallel mechanism,which could achieve three rotational DOF and two translational DOF,was introduced,and its kinematics analysis was carried out.4-UPS-RPS parallel mechanism included five limbs,where four limbs were types of universal joint-prismatical jointspherical joint,and the other was type of revolution-prismatical joint-spherical joint.The reverse solution of position analysis for the parallel mechanism was presented.On this basis,the Jacobian matrix and acceleration equation were derived,and the inverse position,velocity and acceleration of this parallel mechanism were obtained.Then the virtual simulation of mechanism kinematics was implemented by using ADAMS software.The simulation results showed that the numerical calculation results were correct.The research could provide a theoretical basis to promote application of 4-UPS-RPS parallel mechanism.