中文摘要：

针对提出的基于压电陶瓷驱动的三杆六自由度并联微动机器人，在分析其结构特点的基础上，通过坐标变换求出了其逆解方程。分析了影响并联微动机器人工作空间的约束条件，对定姿态工作空间采用一维搜索法求得边界点。用实例进行仿真计算，得到结构参数对工作空间的影响规律。与常规6-PSS并联微动机器人的定姿态工作空间进行了比较，说明了其工作空间分布的特点。所做的工作空间分析为机器人工作空间优化设计和机构尺寸设计提供了依据。

英文摘要：

A three-limb 6-DOF parallel micro motion robot driven by piezoelectric actuators is proposed. The inverse kinematics are obtained by coordinates transformations after illuminating its structural characterization. The constraints of the robot＇s workspace are analyzed and the boundry points of the fixed-pose workspace are searched. The influences of the parameters for workspace are discussed by an example. Then the workspace of it was compared with the one of the usual 6-PSS mechanism. The results provide tutorial for optimizing the workspace and determining the structural parameters.