This paper solves the positive position solution , the inverse position solution and the passive joints solution of the fixed length 3-PRS parallel mechanism of the machine tool;
推导了该车铣复合加工中心的定杆长并联机构3-PRS的位置逆解、位置正解和被动关节求解算法；
Constraint equation was established according to mechanical model, utilizing the analysis, solving the forward and inverse position solution, and drawing the mechanical assembling sketch.
针对机构模型建立了约束方程，利用解析法求解机构的位置正反解，并绘制出机构装配简图。
This paper studies and analyzes the 6-dof parallel robot position forward solution, solves the forward solution problem through the inverse solution method.
对6 -DOF并联机器人的位置正解进行了研究和分析，通过位置反解的求解思路来解位置正解的问题。
At last, using the numerical result of the inverse solution, the direct position analysis is proved to be true.
运用反解的方式对其进行了数值验证，证明该正解分析是正确的。
Its restriction mechanisms has been analyzed. Solution of the inverse position problem has been obtained.
文中对机床的平行约束机构进行了分析，求出了机床的运动学逆解方程。
Its restriction mechanisms has been analyzed. Solution of the inverse position problem has been obtained.
文中对机床的平行约束机构进行了分析，求出了机床的运动学逆解方程。
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