Abstract:Based on the three translational degree of freedom (DOF) and asymmetrical (32SPS) parallel machine tool with a redundant drive as a research object, the workspace and kinematic analysis of a parallel machine were made. Establishing the position inverse solution model and getting the inverse kinematics equation with constraints, then using boundary numerical search method, the workspace of parallel machine was obtained. Rod length variation and dynamic moving platform pose relation equation were determined by curve fitting based on Matlab, so as to analyze the speed and acceleration of each rod of redundancy driven slider located under the condition in different position. The research results provide the theoretical basis for the practical application of the (32SPS) parallel mechanism.