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中文摘要：
从机器人运动单元和机器人末端运动特征出发，给出了并联机器人的构型正解新方法。采用该方法求解了RPS支链所具有的末端运动特征表达式，分析了三种具有不同支链布置形式的3-RPS并联机器人的末端运动特征求解问题。对相应的运算结果进行了对比分析，得到了一些有益的结论。摘要：从机器人运动单元和机器人末端运动特征出发，给出了并联机器人的构型正解新方法。采用该方法求解了RPS支链所具有的末端运动特征表达式，分析了三种具有不同支链布置形式的3一RPS并联机器人的末端运动特征求解问题。对相应的运算结果进行了对比分析，得到了一些有益的结论。
英文摘要：
From the view of kinematical unit and kinematical characteristics of the robot end effector, a novel method for the direct solution of type synthesis of parallel robot was brought forth. It was used to solve the kinematical characteristics expression of the RPS limb. Direct solutions of type synthesis for three kinds of 3-RPS parallel robots, which had different layouts of the limbs, were analyzed. The according results were compared with each other and some useful conclusions are also obtained.
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