中文摘要：

2RPU-2SPS型并联机构由RPU支链和SPS支链组成的非对称结构,具有2转动2平移运动特性的并联机构.文中基于2RPU-2SPS并联机构的运动特性,采用替换法设计出与之对应的柔性并联机构.应用ANSYS软件建立2RPU-2SPS型柔性并联机构、全柔顺并联机构的支链模型,并对全柔顺并联机构的支链进行拓扑优化,进而设计出具有全柔顺特性的新型的2RPU-2SPS型空间全柔顺并联机构.实验仿真对比结果表明：全柔顺支链在整体刚度性能方面优于柔性并联机构支链,该设计方法为全柔顺并联机构整体设计提供了理论依据.

英文摘要：

2RPU-2SPS type parallel mechanism is an asymmetrical structure composed of RPU branched chain and SPS branched chain, and has a kinetic characteristic of two-dimension translations and two-rotation. Based on kinetic characteristic of the 2RPU-2SPS parallel mechanism, 2RPU-2SPS flexible parallel mechanism is designed by using a substitution method. With ANSYS software, the 2RPU-2SPS flexible parallel mechanism and whole compliant parallel manipulator modeling are built, and the topology optimization of 2RPU-2SPS whole compliant parallel manipulator is carried out. Then the new type 2RPU-2SPS whole compliant parallel manipulator which has whole complaint characteristics is designed. The contrastive results show as following： the stiffness of the whole compliant chain is bigger than the flexible chain＇s, and the design method provides theoretical basis for an integral design of spatial whole compliant parallel manipulator.