中文摘要：

为实现光学精密调整,研制出了由交流伺服电机驱动的6-HTRT并联机器人,它具有6个自由度,其结构特点决定了该机器人可以完成高精度定位调整。分析了机器人的位置逆解,并对不同位姿下的工作空间进行了仿真。控制系统采用基于ISA总线的闭环控制方式,测试结果显示：该并联机器人工作空间较大、分辨率高、重复定位精度高,说明机器人结构和控制系统设计的合理性。最后应用此并联机器人成功完成了光学精密装配试验。

英文摘要：

To accomplish a task of optical precision adjustment, a 6-DOF precise parallel robot with architecture of HTRT is presented, which is driven by AC servo motors. Its architecture characteristics confirm that the parallel robot has a high precision positioning. Inverse kinematic solution and workspace are discussed. The parallel control system adopts the closed loop position control method based on ISA bus. The experimental results show that the robot has a bigger workspace, high resolution and high positioning accuracy, which validates design rationality of architecture and control system. Finally, optical precision assembly is accomplished successfully by the parallel robot.