中文摘要：

提出了一种基于SolidWorks环境下实现可重组模块化并联机器人自动装配的方法。在并联机器人模块化构造的理论基础上，使用VB开发语言调用SolidWorks API来实现可重组模块化并联机器人的自动装配。运用此方法能够实现对称和非对称平面式、立方体角台式、球面式、台体式等多种类型并联机器人的自动装配。由于实现了空间并联机器人自动装配功能，所以在很大程度上缩短了设计周期，提高了设计效率。实践证明，设计方法是一种高效易用的方法，并对并联机构的统一模块化设计具有一定的指导意义。此设计思想也可用于其他行业的大型装配体设计。

英文摘要：

An automatic assembly method of reconfigurable modular parallel manipulators based on SolidWorks environment is presented. On this basic theory of modular construct of parallel manipulators, Call SolidWorks API function in VB to realize automatic assembly of reconfigurable modular parallel manipulators. Using this method,the automatic assembly of symmetrical and asymmetrical planar parallel manipulators, in-parallel actuated pyramid manipulators, spherical parallel manipulators and platform parallel manipulators will be realize.Because of having realized the function of automatic assembly of spatial parallel manipulators ,design period is reduced and design efficency is improved at a large extent. Practice shows this design program is feasible and effective ,and has certain instructive effect on the unification modular design of parallel manipulators.The design idea can be used for some large assembly design of other industry.