提出一种新颖的用于微动机器人的六自由度并联结构 ,应用并联机器人机构学理论 ,建立其力方程与速度方程 ,并对其承载能力和速度性能指标进行分析计算 ,为设计具有该结构的微动机器人提供了理论依据。分析计算结果表明 ,该并联结构是承载能力和速度各项同性的。所以 ,采用这种结构的微动机器人 ,具有算法与控制简单的特点 A novel 6-DOF parallel structure for the fretting robot is proposed. By applying the parallel robot mechanism theory, the force equation and velocity equation are established. The bearing capacity and speed performance of the robot are analyzed and calculated. The micro-robot provides a theoretical basis. The results of analysis and calculation show that the parallel structure is isotropic for its carrying capacity and speed. Therefore, the use of this structure of the micro-robot, with the algorithm and control features simple