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少自由度并联机构希望某些非期望输出运动为常量，因此在进行结构设计时需要应用螺旋理论分析所获得的并联机构能够实现的自由度组合类型。
Parallel mechanism of short degree of freedom hope that some unexpected export sport is constant. So we need use Spiral theory to analyse degree of freedom association type of parallel mechanism.
通过对6 - SPS型并联机器人位置输入输出方程微分，获得机器人逆雅可比矩阵。
The inverse Jacobi matrix of the 6-sps parallel manipulator is obtained from differential equations of the reverse displacement analysis.
分析了并联机器人机构3RRC的输入输出特性，给出了位置分析和连杆运动干涉分析。
The input and output feature of a utilitarian rank-degenerated parallel robot mechanism 3RRC is discussed in this paper. Displacement and intervention analysis are presented also.
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