中文摘要：

针对全柔性并联机构的构型设计不能满足精密定位和微纳制造领域的需求,为提高全柔性并联机构的整体刚度、抗振性和抗干扰性,基于3-RPRR并联机构原型,采用型综合法,设计出与并联机构原型空间运动特性一致的3-RPRR类平面全柔性机构及其支链.运用拓扑优化的方法,得到铰链最优配置的3-RPRR类平面全柔性并联机构及其支链.采用Hyperworks/Radioss软件分别对这2种3-RPRR类平面全柔性并联机构进行静力学及模态分析,仿真结果表明：在实现相同运动特性的前提下,优化后的3-RPRR类平面全柔性并联机构不仅节省材料,而且在刚度、抗振性和抗干扰性方面更优.

英文摘要：

The configuration design of fully compliant parallel mechanism can＇t meet the demand of precision positioning and micro/nano manufacturing.In order to improve the overall stiffness,vibration resistance and interference immunity of the fully compliant parallel mechanism,a 3-RPRR similarly planar fully compliant parallel mechanism which had the same space motion characteristics to the prototype and its branched chains were designed by using type comprehensive method and based on the 3-RPRR prototype parallel mechanism.The optimal configuration of 3-RPRR similarly planar fully compliant parallel mechanism and its branched chains with topology optimization method were obtained.Then two models were respectively established by adopting Hyperworks/Radioss software,statics and modal analysis were carried out.The results showed that the optimized mechanism not only saved material,but also had better overall stiffness,vibration resistance and interference immunity under the premise of achieving the same motion characteristics.