中文摘要：

为优化一种风洞6_PUS并联支撑机器人的动力学性能参数，采用螺旋理论推导了该机构的力雅可比矩阵和Hessian矩阵，并基于一、二阶影响系数法，在全域工作空间内，对影响6_PUS风洞并联支撑机器人动力学性能指标的主要结构参数进行了优化分析．对该机器人动平台、球铰位置、拉杆长度、平行梁宽度等参数对动力学性能的影响进行了仿真．从仿真结果来看6_PUS并联机器人的动力学性能较差，要使机器人获得最佳的综合性能，则需要对这些参数进行综合优化．通过对这些参数和性能关系之间的全面考虑，最后选定了并联机器人的主要设计参数，使机构性能达到了设计要求．

英文摘要：

In order to optimize the dynamic performance parameters of a kind of parallel robot for wind tunnel support system, the force Jaccobian Matrix and Hessian Matrix were derived accord- ing to screw theory. And on the basis of the Jacobian Matrix and Hessian Matrix of this parallel robot, using the first and second order influence coefficient method in all domains of parallel ro- bot working space, the dynamics performance affected by the main structure parameters of this robot were analyzed and optimized. These parameters including such as the motive platform, the position of spherical joints, length of rods, and width between parallel beams had great influence on the dynamics performance by simulation. From the results of simulation, dynamics perform- ance of 6_PUS parallel robot is bad. In order to obtain the best comprehensive performance of the robot, these parameters are required to be comprehensively optimized. After comprehensive con- sideration of these parameters and the relationship between performances, the main design parame- ters of the parallel robot are selected and the performance reaches the design requirements at last.