摘要: This paper presents a study on the direct and inverse models for a class of hybrid parallel mechanisms with three independent chains. The first symbol, J in the structural formula 3(JRS), has the significance of a general mechanic... 展开 This paper presents a study on the direct and inverse models for a class of hybrid parallel mechanisms with three independent chains. The first symbol, J in the structural formula 3(JRS), has the significance of a general mechanical Joint with a certain number of freedom degrees. The author presents an analysis of the general case and then he develops two particular cases of this mechanism class. There are also presented numerical results obtained by a computer programme write by the author. 收起