中文摘要：

首先确定仿生眼的目标工作空间,根据其结构的特殊要求,将目标工作空间内最差性能指标作为优化对象,选取球面并联机构的结构参数.避免了将平均性能指标作为优化对象时可能出现某些姿态的性能较差甚至出现病态雅可比矩阵的情况;同时,只在目标工作空间而不是可达工作空间进行优化,既体现了优化范围的针对性,也避免了可达工作空间的计算.最终采用优化后参数设计的仿生眼实物符合设计要求.

英文摘要：

The required workspace of the bionic eye is firstly defined.According to the special requirement of its configuration, a method to determine structure parameters of SPM（spherical parallel mechanism）,which utilizes the worst-case performance index as the optimizing target in required workspace,is presented.Consequently,the worse performance in certain positions as well as the appearance of singular Jacobian matrix,which always happen when taking the average performance index as the optimizing target,are avoided.In addition,the optimizing process is carried out in required workspace instead of reachable workspace for the sake of minimizing the optimization scope and circumventing the calculation of reachable workspace.Finally,the bionic eye with the optimized parameters meets the design requirements.