研究一种球坐标式3自由度并联机器人机构的运动学设计，包括运动学反解、速度、考虑铰链转动范围和干涉等条件下的工作空间，和结构参数对工作空间的影响以及灵巧性能指标及其在保角变换平面上的分布特性，这些分析结果和结论对并联机器人机构的设计、轨迹规划和控制等有重要的指导意义并联机构在并联机床、坐标测量机构和工业机器人等领域有广阔的应用前景

提出一种新型空间3自由度并联机器人机构，该机器人机构的动平台相对于定平台具有空间2个移动、1个转动自由度。建立了其运动学正反解的封闭形式，并对其工作空同进行了系统的分析和研究。该新型并联机器人机构在工业机器人、薇动机器人、少自由度飞行模拟器和并联机床等领域具有广泛的应用。

Parallel robots lead to complex kinematics equations, so determination of their workspaces is a challenging issue. The workspace of a robot is not fully characterized by its volume alone; the workspace shape is an important aspect as well. In this paper, the geometric determination of the workspace for Delta robots is presented. The workspace (workspace volume and workspace shape) for the robots is studied systematically in 'the physical model of the solution space', which is a useful tool to express relationships between the performance criteria and all link lengths of one type of robotic mechanism. Performance atlases of the workspace volume for the robots are plotted in the physical model of the solution space. The characteristics of the distribution of the workspace shapes in the physical model of the solution space are presented as well. The physical model of the solution space presents a new method for the computer aided design (CAD) of robotic mechanisms. The results are very useful for obtaining the optimum design of robotic mechanisms.

A parallelogram allows the output link to remain at a fixed orientation with respect to an input link, for which it acts as a unique role in the design of parallel mechanisms. In this paper, the unique role of a parallelogram is used completely to design some new parallel mechanisms with two to six degrees of freedom (DoFs). In these mechanisms, some with three DoFs possess the advantage of very high rotational capability and some with two DoFs have the translational output of a rigid body. More than that, the design concept is also applied first to some parallel mechanisms to improve the systems' rotational capability. The parallel mechanisms proposed in this paper have wide applications in industrial robots, simulators, micromanipulators, parallel kinematics machines, and any other manipulation devices in which high rotational capability and stiffness are needed. Especially, the paper provides new concepts of the design of novel parallel mechanisms and the improvement of rotational capability for such systems.