There are many indices for evaluating the operational performance of parallel robots, but most of them start from kinematics and rarely pay special attention to the force transmission process. After studying the relationship and characteristics of the forward and reverse force transmission of the Stewart parallel manipulator under quasi-static conditions, three new indices are proposed in this paper, which are forward force sensitivity, reverse force sensitivity, and overall force sensitivity. Subsequently, the influences of six parameters on the overall force sensitivity index are analyzed. Furthermore, this paper propose three new structural optimization design schemes based on the three newly proposed indices. Finally, it is verified experimentally that the unit reverse force sensitivity of a single joint is consistent with the theory and the error between the theoretical and experimental values is obtained.

评价并联机器人运行性能的指标很多，但大多从运动学入手，很少特别关注力的传递过程。在研究了准静态条件下Stewart并联机械手正反向力传递的关系和特性后，本文提出了三个新的指标，即正向力灵敏度、反向力灵敏度和整体力灵敏度。随后，分析了六个参数对整体力灵敏度指标的影响。此外，本文基于三个新提出的指标提出了三个新的结构优化设计方案。最后，