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介绍了三自由度并联驱动平台机构的特征与特点，对其中一种典型结构的位置逆解作了具体的探讨，推导了相应的算式，并对该机构所产生的附加约束运动进行了分析．三自由度并联平台机构有三个独立的运动参量，在一定条件下也会产生三个附加的约束运动参量．这是这种空间机构进行位置姿态运动时的一个重要特点．但实例计算表明，产生的附加约束运动量与独立运动量比较而言，其值相对较小．探讨的三自由度并联平台位置逆解，其算法具体、简洁、实用，对三自由度并联平台机构的运动控制具有直接的应用价值．
The characteristics and features of three degrees of freedom parallel drive platform mechanism are introduced. One of the typical structures is discussed in detail. The corresponding formulas are deduced and the additional constraint motions generated by the mechanism are analyzed. The three-DOF parallel platform mechanism has three independent motion parameters, and under certain conditions, three additional constrained motion parameters will be generated. This is an important feature of this space agency in its position and posture. However, the calculation of the examples shows that the additional restrained movement produced is relatively small compared with the independent movement. The inverse position solution of the three degrees of freedom parallel platform is discussed. The algorithm is simple, practical and has direct application value to the motion control of three degrees of freedom parallel platform mechanism.