中文摘要：

对一种新型的两转一移非对称并联机构2UPU＋SPR进行了分析。分析了该机构的自由度，求解了该并联机器人的运动学正反解，得到了它的6×6雅可比矩阵和6×6×6的Hessian矩阵，从而求解出该机构的速度与加速度，其结果均为用矢量表达的显式形式，通过虚功原理求解了该机构的静力学。

英文摘要：

In this paper, an unsymmetrical 2UPU＋SPR parallel manipulator with 2 translational and one rotional DOF is analyzed. First, the degree of freedom of this manipulator is calculated. Second, the forward and inverse kinematics of this manipulator are analyzed. The 6×6 Jacobian matrix and the 6×6×6 Hessian matrix are obtained and the velocity and acceleration are solved. The results are all expressed in vector form. Third, the statics is solved based on the principle of virtual work.