In accordance with the maximization of operationable space of micro-nano manipulator, an analysis was carried out upon t依据微纳操作器的可操作空间最大化，对微纳操作器的推可比矩阵进行了分析。
The forward and inverse kinematics solutions of a 3-DOF parallel micro-nano manipulator were emphatically analyzed, and 重点分析了3-DOF并联微纳操作器的运动学正解和逆解，推导出了运动学正解的雅可比矩阵。