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并联机床具有模块化程度高、重量轻、速度快和造价低等优点。该文以６－ＴＨＳ型并联机床结构为对象，研究其设计理论与方法。定义了并联机床的初始位形，构造出并联机床处于初始位形时的局部灵活度解析模型，并以此为基础提出了运动学设计的最优构形。基于上述分析结果，提出一种并联机床尺度参数综合方法。该方法兼顾运动终端实现姿态的能力和灵活度两方面的要求，保证了所设计的机床满足制造领域的基本要求。利用该方法进行工程设计计算，结果证明该方法可行。
Parallel machine with a high degree of modular, light weight, high speed and low cost advantages. In this paper, 6-THS parallel machine tool structure as the object, to study the design theory and methods. The initial configuration of the parallel machine tool is defined, and the local flexibility analysis model of the parallel machine tool in the initial configuration is constructed. Based on this, the optimal configuration of the kinematic design is proposed. Based on the above analysis results, an integrated method of parallel machine tool scale parameters is proposed. The method takes into account both the capability and the flexibility of the sports terminal to achieve the posture, and ensures that the designed machine tool meets the basic requirements in the manufacturing field. The method is used to calculate the engineering design, the result proves that the method is feasible.