分析了一种三杆五自由度并联机床机器人运动学问题，给出了其运动学正逆解位置方程，并对并联机床的速度及加速度求解进行了定性分析。
The degree of a 3-legged in parallel kinematics machine tool is analyzed. Its positive and inverse kinematics is presented and its velocity and accelerate were qualitative analyzed.
分析了一种三杆五自由度并联机床机器人运动学问题，给出了其运动学正逆解位置方程，并对并联机床的速度及加速度求解进行了定性分析。
The degree of a 3-legged in parallel kinematics machine tool is analyzed. Its positive and inverse kinematics is presented and its velocity and accelerate were qualitative analyzed.
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