分析了一新型 3{R∥R∥C}三平移并联机器人机构的特殊位形 文章先从分析该机器人动平台的平衡情况着手 ,采用旋量及运动影响系数矩阵方法 ,推导了机构出现特殊位形的判别矩阵公式 ,由此得出了该并联机器人机构出现特殊位形的条件 由分析可知 ,该特殊位形条件只包含了机构的方位角而不含任何几何尺寸 ,故此三平移并联机器人机构属只含位置奇异而无几何尺寸奇异形的机构 论文还在大型机械动态分析ADAMS软件上建立了仿真模型 ,由此验证了分析的正确性 为该类机器人的实际应用提供了理论依据 Based on the analysis of the balance of the robot platform, a special type of 3R {R // R} C parallel translation parallel manipulator mechanism was analyzed. Using the spin matrix and motion matrix method, Shaped discriminant matrix formula, which draws the parallel robot mechanism appears special shape conditions from the analysis shows that the special position conditions only include the azimuth of the organization without any geometric dimensions, so the three-translation parallel robot mechanism Which is only containing the location of singular and non-geometric odd-shaped mechanical papers are also large mechanical dynamic analysis ADAMS software to establish a simulation model, thus verifying the correctness of the analysis for the practical application of such robots provide a theoretical basis