中文摘要：

设计了一种自由曲面抛光并联机器人，对其进行了运动学分析，建立了并联机器人机构住姿逆解方程，并给出了显式解析表达。应用Solidworks2008软件完成了三维实体建模，并利用机械系统动力学分析软件ADAMS对该并联机器人机构进行了运动学仿真和分析，验证了方案的可行性。

英文摘要：

A new kind of free curved-surface polishing parallel robot is designed. The robot＇s kinematics analysis is presented, the kinematics equation is built up and the inverse kinematics solution is given. Then, the 3-D model of the robot is established with Solidworks 2008 software. Finally, kinematics analysis is carried out with ADAMS, and the simulation result proves the feasibility of the design.