目的 对 3-UPRP 并联机构进行运动学分析和仿真，验证其是否具有良好的运动学性能。方法 运用修正的 G-K 公式计算出该机构的自由度，并且利用 D-H 法计算 3-UPRP 并联机构的位置解，利用虚设机构法求出 3-UPRP 并联机构的一阶影响系数，利用 ADAMS 对机构进行位移、速度、加速度的分析。结果 得到了机构的位置解以及仿真后的速度、加速度等图像，图像曲线都呈现周期性、有规律的运动，曲线未出现突变点和断点，变化范围稳定。结论 该机构具有较好的运动学性能，在包装机械等领域有很好的应用前景。

The work aims to analyze and simulate the kinematic properties of the 3-UPRP parallel mechanism, to verify whether the parallel mechanism has good kinematic performance. The degree of freedom of the mechanism was calculated with the modified G-K formula and the position solution of 3-UPRP parallel mechanism was calculated by D-H method. The first order influence coefficient of 3-UPRP parallel mechanism was obtained by the virtual mechanism method. ADAMS was used to analyze the displacement, speed and acceleration of the mechanism. The position solution of the mechanism and the images of velocity and acceleration, etc. after simulation were obtained. The image curves showed periodic and regular motion. The curves had no sudden change points and break points, and its change range was stable. With better kinematic performance, the mechanism has very good application prospects in the field of packaging machinery, etc.