中文摘要：

总结了并联机器人机构综合的3种主要方法．以一种典型机构的综合过程作为分析范例，分析了应用3种不同机构综合方法在机构综合过程中的不同思想、数学表达和综合步骤．得出了它们之间的优点、缺点以及不同的应用特点．在此基础上，首次提出研究机构综合统一理论的思路．

英文摘要：

Three main structural synthesis methods for parallel manipulator were introduced. Their different ideas, mathematic expressions and synthesis steps were analyzed, and their advantages, drawbacks and application properties were summarized respectively. Based on above analysis, this article presented an idea about a feasibly unified theory for the first time.