中文摘要：

并联机器人的运动学分析是研究并联机构的基础。为使Delta四自由度机械手达到完成工作的目的，根据Delta并联机械手的特点，改进了两种四自由度Delta机器人设计，简化模型，建立数学模型及运动方程，推算出运动学逆解公式。根据机械手末端执行器的位置和姿态，得到伺服电机需要转动的转角。

英文摘要：

Parallel robot kinematics analysis is the basis of Parallel institutions. In order to achieve the pur- pose of the robot work, this paper, based on the characteristics of Delta parallel robot, designed and im- proved two kinds of 4-DOF Delta robots, established the mathematical model and the equations, and also presented the inverse kinematics. According to the actuator end position and posture, it finally got the ser- vo motor rotation.