【摘要】 本文提出了一种３—ＴＲＳ型并联机器人，介绍了它的结构和特点，给出了几种二自由度Ｒ—Ｒ型驱动装置的结构简图；分析了该机器人的运动问题，即从正、反两个方面分析了它的位姿、速度和加速度问题。更多还原

【Abstract】 In this paper, a kind of 3-TRS parallel manipulator is put forward .Its structure and character-istics are introduced. Some 2-Dof R-R actuators which can be used in this kind of manipulator are descr-ited graphically. The forward and backward kinematitics, such as displacements , the velocities and the accel-erations are analysed afterwards.更多还原