Based on the analysis of kinematics of six-degrees of freedom parallel robot,a design method is proposed,in which design of parallel robot is optimized by changing the pitch radius.

• 基于对六自由度并联机器人运动学的分析,提出了一种通过改变下平台铰点支座分度圆半径来优化并联机器人结构的设计方法。