由于机构的三个转动轴线不相交，加工、制造较三个转动轴线交于一点的球面并联机构容易；

The 3-RPS pyramid mechanism has three-dimensional CARDAN and helical motions and its workspace is larger than that of the platform manipulator.

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回顾了并联机构位置正反解研究的数学基础，研究了2-DOF和3-DOF球面并联机构位置正反解问题；

The forward and inverse position problems of the 2-DOF and 3-DOF parallel spherical mechanism are studied.

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介绍了一种由圆柱副、圆柱副和球面副组成的点、线约束的新型并联机构6-CCS，对其进行了结构分析，给出了运动学逆解方程。

A new parallel mechanism 6-CCS which is composed of cylinder and spherical joints is described in this paper. Configurable analysis and inverse kinematic equations are given.

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