中文摘要：

基于方位特征集理论,研究了三平移并联机构拓扑结构设计的一般方法。基于串联机构POC方程及其运算规则,构造了末端构件包含三平移运动输出的各SOC支路,并根据拓扑等效原理扩展得到了满足设计要求的各HSOC支路;基于并联机构POC方程及其运算规则,确定了并联机构支路组合方案以及支路在并联机构上、下平台上的装配几何条件;分析了所得并联机构的拓扑结构特征,得到符合设计要求的三平移并联机构。

英文摘要：

This paper makes a study of a method for the topological structure design of 3 T-0 R parallel mechanism based on POC equation.All usable SOC branches are constructed based on POC equation for serial mechanisms and corresponding HOC branches and those branches meet the design requirement according to topological equivalence principle,all possible branch combination schemes and corresponding geometrical conditions for the branches assembled on two platforms are determined based on POC equation for parallel mechanisms,the characateristics of the topological structure of the obtained parallel mechanisms is analyzed and3 T-OR parallel mechanism met the design requirement are obtained.