| With the development of parallel robot research and technology, various forms of 3-DOF parallel mechanisms have received considerable scholars' attention of all the world and have a broad perspective in industry production and other fields for the advantage of their simple mechanism, easy control and low cost. In this dissertation, on the basis of analysis the current situation of 3-DOF parallel robot home and abroad,some important theoretical issues especially position analysis is studied concerning 3-5R translational parallel mechanism. The research is financed by National natural Foundation. At first, the accuracy of choosing input is considered based on the analysis of characteristics, the amount of DOF for 3-5R parallel mechanism and the reciprocal screw and screw system dependency. At meantime, the reasons of wrong input are given. Secondly, the kinematics of 3-5R parallel mechanism are developed and the inverse equations are established. The solutions of the inverse and corresponding numeral examples are given. Based on the virtual mechanism method and influence coefficient method, the one-order and two-order influence coefficient matrices of the mechanism are developed. The kinematical equations are solved. Finally, the ideal workspaces at different condition are studied with the numerical boundary-searching algorithm based on the limitation of the link length, the appearance of the ideal workspace is presented based on PROE platform, some operational curves and curved surfaces are presented. The research work of this thesis establishes theoretical basis for the further research and development of this mechanism's practicability. It is of great significance with the analysis of the spatial imperfect-DOF mechanisms.
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