中文摘要：

通过对重载灵巧操作器的设计要求进行分析，使用分组可约的方法进行构型设计，得到满足设计要求的最优构型；通过对远程转心RCM机构的分析，选择弧形滑轨实现远程转心，建立了灵巧操作器的三维模型；对关节力矩进行建模，得到各关节力矩在工作空间的分布特性，分析了灵巧操作器各关节力矩分布和各转角间的关系，为灵巧操作器路径规划提供依据。

英文摘要：

By analyzing the design requirements of the end-effector, the most appropriate configuration is achieved by using the group-based type synthesis method. The remote center of motion is fulfilled by using curved rails, and a 3D model is built for the heavy-duty 3-DOF end-effector. The mathematic model is built for the joint actuated torque and the distributed performance of the joint torque over the whole joint space is got. The relationship between the joint actuated torque and joint angle is revealed to support the motion planning.