This paper takes the 3-(2SPS) paral el manipulator as the object of the study,establishes the kinematic equations and gets the Jacobian matrix,researches on the dexterity of the machine then,simulates the distribution of force isotropy and torque i-sotropy.The study provides the theoretical basis for the structural optimum design and performance analysis of the paral el manipu-lator.%以3-(2SPS)并联机床为研究对象，建立了机床的运动学方程并得到了机床的力雅克比矩阵，在此基础上对机床的灵巧度进行了研究，仿真出力各向同性和力矩各向同性分布图并进行了分析，该研究为并联机床结构优化设计及性能分析提供理论依据。
展开▼
