Abstract
In this paper,a kind of 3-UPU spatial parallel mechanism is introduced. Through deep analysis of the degree-of-freedom (DoF) for the platform using screw theory， the position and orientation of the moving platform is discussed. At last, the 3D virtual prototype modeling of this 3-UPU parallel mechanism based on software ADAMS is developed; the kinematics simulation and analysis are also carried out accordingly. From the simulation results, we can see that the proposed calculation of the DoFs and kinematics analysis is correct.
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