The model of kinematic can be acquired based on symbolic method concerning a three-DOF paral-lel mechanism. Firstly, set up static and dynamic coordinate system, established the constraint equations through matrix transformation in this paper. Then converted the simplified equtions into polynomial equtions. The closed-form expression of constraint equtions would be got by sylvester elimination,in next. On this ba-sis,researshed kinematics characteristics of the parallel mechanism,got the Jacobian Hessian matrixs that are independent of the motions of actuating arms. we can also get the terminal arbitrary point' s velocity and ac-celeration though the model. At last,verified the model had been proved as an efficiene and accurate methed by calculating an example. Meanwhile,drew the terminal centroid position,velocity and acceleration curve though the model programming on the Matlab. In general,the methed of the model is correct,efficient;the kinematics characteristic of the mechanism is smooth.%针对一种3 SPS-3 SRR并联机构,运用符号法对该机构进行位置分析及运动学分析建模.构建动、静坐标系,通过矩阵转换对机构建立约束方程,运用sylvester消元方法进行消元得到机构单变元输入输出方程,求得机构位姿的封闭解;在此基础上,对机构建立运动学分析模型,得到了与机构运动相分离的Jacobian、Hessian矩阵,并通过此运动模型可以得到机构输出端任意点的速度及加速度.最后进行实例求解,验证本位置、运动学模型的正确性并通过matlab符号运算及绘图功能得到机构末端执行器的位姿、速度及加速度曲线.得出该求解模型准确、高效,该机构运动特性平滑的结论.
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