【摘要】 提出了一种３－ＳＲＳ型３腿冗余度并联机器人，介绍了它的结构和特点，分析了它的位姿、速度、加速度等运动学问题，为其深入研究打下了基础。更多还原

【Abstract】 in this paper, a kind of 3-SRS redundant parallel manipulator is put forward. Its structure and characteristics are introduced and its kinematic performences, such as displacement, velocity and acceleration are analysed. All these points are essential for future study.更多还原