研究了一般形式的并联机器人速度输入输出方程系数矩阵的奇异值、灵活性、奇异位形和工作空间之间的关系 ,以三自由度并联机器人为例 ,通过仿真给出机器人灵活性最差、位于第一种奇异位形 ,位于第二种奇异位形和位于各向同性位形的具体实例 ,得出在结构尺寸对称条件下存在各向同性的位姿及必要条件 The relationship between singular value, flexibility, singularity and work space of the coefficient matrix of the parallel robot speed input - output equation is studied. Taking a three degree - of - freedom parallel robot as an example, the robot is given the worst flexibility, Located in the first bizarre bit, located in the second bizarre bit and is located in the specific example of the isotropic position, the symmetry of the structure under the conditions of symmetry exist the same posture and the necessary conditions