中文摘要：

文中提出一种新型的三自由度平面并联机构，对其结构特点进行概述，并且针对其进行了运动学正解和逆解分析，得出了四组正解装配模式和八种逆解工作模式。另外利用极坐标搜索法得到了机构的定姿态工作空间，画出了其工作空间分布图。

英文摘要：

A novel three DOF planar parallel manipulator is proposed in this paper. The structure characteristic is briefly introduced. Then the direct and inverse kinematics analysis is performed, resulting four assembly modes and eight working modes respectively. In addition, the constant orientation workspace is obtained by the polar search method, and its distribution figure is also plotted.