并联机构的对称性、高精度和高刚度等优点使其适合作为微动机器人机构 ,因此并联机器人的分析与设计理论和方法可推广应用于微动机器人。研究微动机器人机构的设计方法 ,建立了并联六自由度 Stewart微动机器人的空间模型 ,并分析了该微动机器人的机构尺寸与性能指标的关系 ,得到了各向同性、刚度性能图谱 ,是探讨微动机器人机构设计的有效分析工具 Parallel mechanism symmetry, high precision and high stiffness make it suitable as a micro-robot mechanism, so the parallel robot analysis and design theory and method can be extended to the use of micro-robot. The design method of the micromanipulator mechanism was studied and the space model of the six degree of freedom Stewart micromanipulator was established. The relationship between the size of the micromanipulator and the performance index was analyzed, and the isotropic and stiffness performance map was obtained. Probe into the Effective Analysis Tools of the Mechanism Design of the Mobile Robot