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Explicit solution for inverse kinematics algorithm of 3-RPS (3-revolution-prismatic-spherical) parallel link manipulator often used in engineering is deduced in this article. The inverse kinematics calculation of 3-RPS parallel link manipulator is a great simplification for presenting explicit solution, which can improve the calculating speed of inverse kinematics by 2.67 times when applied to on-line control. Moreover the Jacobian matrix function of manipulator can be more easily solved for presenting explicit solution, and make kinematics analysis and mechanical calculation for manipulator simple and feasible. The forward kinematics algorithms which are often applied at present for parallel link manipulator are mostly accomplished with an iterative computation by transferring the inverse kinematics computation program repeatedly. The calculation speed of forward kinematics can be improved in certain degree by applying inverse kinematics explicit solution to forward kinematics of 3-RPS parallel link manipulator.