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研究了新型三自由度的３ － Ｒ Ｐ Ｓ并联角台机构，根据其结构特点建立了位移反解方程；并且在全面考虑约束条件的前提下，利用数值解法求得了它的工作空间边界点，描绘了其工作空间典型截面的边界轮廓曲线和立体图。
The new three degrees of freedom 3 - R P S parallel gantry mechanism is studied. Based on its structural features, an inverse displacement equation is established. On the premise of fully considering the constraints, the boundary point of its workspace is obtained by numerical solution. Depicts the boundary profiles and perspectives of typical sections of their workspace.