| 3-freedom parallel mechanism is a new type of parallel mechanism which is also a very important branch with great applications foreground in industry. However its comprehensive research is not yet sufficient. Generally, it is rather easy to calculate the reverse solution of parallel mechanism than forward solution, based on which, the kinematical research is relatively inadequate domestically. What's more, there still lack a proper equipment for such research. The author has analyzed the foreword solution of the position and motion of two typical 3-freedom parallel mechanisms, 3-RPS and 3-RRR, deduced the 1-step influence coefficient which reflected the kinematical features of the mechanisms, and finally set up forward-solution equations. By programming in Matlab, the author reasoned and analyzed the methods to solve the equations, and got the solution directly when given the initial motions or kinematical condition. The methods used in this paper provided a way to solve such other mechanisms, which could help the industrial applications of the mechanism. Based on the theoretical analysis, the author designed the platform applied in the experiment and research of 3-freedom parallel mechanism, realized the combination of different 3-freedom parallel mechanisms concerning the platform structure, control hardware and control software, and thus provided an ideal platform for deeper research of 3-freedom parallel mechanism via the control of all the combined motions by computer.
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