中文摘要：

高速度的平行运动学的机器(PKM ) 说出三角洲平行操纵者的一篇小说被建议，它由与相同拓扑学通过三手足连接到一个动人的平台的一个固定的库组成。此处，每手足由一只开车手臂和一只追随者手臂组成后者包括二绳和绳中间杆，位于一架一样的飞机的所有。与有一致参数的类似的操纵者相比，新奇、唯一的拓扑学以及二串三角洲操纵者的增加能移开球形的关节的清理，进一步减少部件的惯性的负担，等等改进放的精确性和动态性能。为了提出开车手臂，概括追随者和动人的站台的三角洲操纵者， kineto 静态的分析和模型的 kineto 静态的模型，能被 DALEMBERT 原则执行。为获得力量的缘故，绳，绳的变丑相容性条件和中间的杆的分析结果是坚定的。在小变丑和线性重叠原则的假设的优点，而且，绳的最小的预先紧缩的力量被计算。主要结果包括大量绳和中间的杆一定比零大，在工作区上的预先紧缩的力量一定比在在工作区以内的任何时间的最小的预先紧缩的力量大，它为动态分析和三角洲操纵者的原型制造打了基础。

英文摘要：

A novel high-speed parallel kinematic machine （PKM） named Delta-S parallel manipulator is proposed, which consists of a fixed base connected to a moving platform through three limbs with identical topology. Each limb is composed of one driving ann and one follower arm, herein, the latter includes two strings and one middle rod, all located in a same plane. Compared with similar manipulators with uniform parameters, the novel and unique topology as well as the addition of two strings of Delta-S manipulator can remove the clearance of the spherical joints, reduce the inertial load of components further, improve the positioning accuracy and dynamic performance, and so on. In order to formulate the kineto-static model of Delta-S manipulator, the kineto-static analyses and models of the driving arm, the generalized follower and the moving platform can be carried out by the D＇ALEMBERT principle. For the sake of obtaining the force analytic results of strings, the deformation compatibility condition of strings and the middle rod are determined. Furthermore, in virtue of the assumption of small deformation and the linear superposition principle, the minimal pre-tightening force of the strings is calculated. The main results include that the loads of the strings and the middle rod must be larger than ＂zero＂ and the pre-tightening force over the workspace must be larger than the minimal pre-tightening force at any time within the workspace, which lay the foundation for the dynamic analysis and the prototype manufacture of the Delta-S manipulator.