中文摘要：

根据给定的并联机构末端执行器的任务要求,在其结构参数优化设计中,为保证各分支运动学传递性能相对均较优,利用离差的性质,定义了局域和全域运动（速度）、力及功率分配性能指标,以此反映各分支共同承担负载要求的能力。对于单驱动分支功率输出,探讨了速度和力两个可变的物理量对功率的作用大小,并定义了运动、力作用系数,以此对机构的工作空间进行了分析。最后以用作姿态调整部件的3-RPS空间并联机构为例,对上述指标进行了详细的求解,在改进的设计空间中叠加性能图谱,优化了机构的结构参数尺寸,同时求出了相应的工作空间。

英文摘要：

According to the requirement of a given parallel mechanism end actuator and to make sure that kinematics transmission performance of each branch is relatively better in optimum design of its structure parameters,local and global motion （speed） , force and power distribution performance indicators were defined by using the character of dispersion, which reflected the ability of branch to share the load requirements. For a single drive branch power output, the effect of speed and force was discussed which were both variable physical quantities on power, and the movement and force coefficient were defined. The workspace of parallel mechanism was analyzed by using those parameters. Finally the 3-RPS parallel mechanism for attitude adjustment components was used as an example. And a detailed solution to the above indicators was developed. Performance atlas in the modified design space was overlaid, the structural parameters of the mechanism were optimized and the corresponding workspace was found out. The motion, force and power distribution performance indicators can be further applied to the performance analysis of other parallel mechanisms, as well as to guide optimization design of parameters. Each branch of the parallel mechanism obtained through this optimization method has good power, motion and force transmission performance. This sets the foundation for the kinematics and dynamics analysis of parallel mechanism.