本文分析了几种典型旋转输入型并联机器人的机构形式和特点，提出了适用于各种旋转输入型并联机器人位置逆解分析的轨迹圆法，利用该方法可方便地进行位置逆解建模与求解、逆解情况（有无解及多解性）判断等，简化了位置控制算法 In this paper, the mechanical forms and characteristics of several typical parallel robot with rotational input are analyzed. A trajectory circle method suitable for the inverse analysis of position of various rotary input parallel manipulators is presented. By using this method, the position inverse solution can be conveniently modeled and solved. Inverse solution (with or without solution and multi-solution) to judge, simplifying the position control algorithm